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[Hotfix] - Old Keisan Inverse Function #2

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Merged
mbsaloka merged 1 commit into from
Apr 25, 2026
Merged

[Hotfix] - Old Keisan Inverse Function #2

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2 changes: 1 addition & 1 deletion src/basho/localization/fusion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ void Fusion2D::update(double mx, double my)

// Kalman Gain
keisan::Matrix<2,2> S = P + R;
keisan::Matrix<2,2> K = P * S.inverse2();
keisan::Matrix<2,2> K = P * S.inverse();

// Update state
Xk = Xk + K*(z - Xk);
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