The optimization paramers is deffrent between RT and Master version

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Thank you very much for sharing the code!@jingpang @MaXinjun0109 @jyzhong @ferreram
I am learning your code recently, and I find the jacobian of Pwb error "JdPwb" in EdgeNavStatePointXYZ::linearizeOplus() is defrent between RT and Master version. I guess it is because used defferent Pwb update way. In the master version "Pwb <- Pwb + Rwb*delta_Pwb",but In the RT version "Pwb <- Pwb+delta_Pwb".
why do you choose different way to update Pwb?