How to deal with the IMU data with gravity ,cause TangentPreintegration.cpp does not consider graviry

[TengQi Zhao]

In TangentPreintegration.cpp, updatePreintegrated() function:

"Vector9 preintegratedPlus;
preintegratedPlus << // new preintegrated vector:
theta + w_tangent * dt, // theta
position + velocity * dt + a_nav * dt22, // position
velocity + a_nav * dt; // velocity"

Why not consider gravity?

Due to the gravity which is in included in my data , how do I deal with this situation. Should I feed the data into preintegration without any preprocess?

[Frank Dellaert]

Check testImuFactor.cpp