使用了不同方向的扰动？

[zlthaha]

// jacobians related to t_i 右乘扰动模型？
jac_lhs_R[0] = -J_v * (S_GtoCj * S_IitoG).matrix() * SO3::hat(p_Ii);
jac_lhs_P[0] = J_v * S_GtoCj.matrix();

// jacobians related to t_j 左乘扰动模型？
jac_lhs_R[1] = J_v * S_GtoCj.matrix() * SO3::hat(p_G - p_IjinG);
jac_lhs_P[1] = -J_v * S_GtoCj.matrix();