Ping @dellaert

Convince me that this is the correct change. There is also an integration covariance mentioned in the paper. Are we sure this is not that? How is an initialization part of a parameter?

PreintegrationParams has an integrationCovariance which is what is used for integration.

In that same file, we have bInitCov which is assigned from p().biasAccOmegaInt.

biasAccOmegaInit should be the initial covariance for the 6 dimensional bias term encapsulating both the acceleration and angular velocity (aka ConstantBias) and is used by the CombinedImuFactor for preintegrating and propagating the bias covariance.

Ok, you convinced me. But how could we make this change in a way that does not break existing user code?

Ok, you convinced me. But how could we make this change in a way that does not break existing user code?

This has been the big question for me. I wonder if we can put in a deprecation warning like message that lets users know the variable name has changed? If we're cutting 4.3a as a new release, can we make an exception?

Typically, we bracket in ifdefs, so we can do that here as well?