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static Retract and Local are superfluous (do not belong to any concept)

release/4.3a0
dellaert 2015-07-16 23:45:57 -07:00
parent 459226800d
commit 03be928065
1 changed files with 0 additions and 16 deletions
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16
gtsam/base/Lie.h
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@ -83,22 +83,6 @@ struct LieGroup {
return Class::Logmap(between(g));
}
static Class Retract(const TangentVector& v) {
return Class::ChartAtOrigin::Retract(v);
}
static TangentVector LocalCoordinates(const Class& g) {
return Class::ChartAtOrigin::Local(g);
}
static Class Retract(const TangentVector& v, ChartJacobian H) {
return Class::ChartAtOrigin::Retract(v,H);
}
static TangentVector LocalCoordinates(const Class& g, ChartJacobian H) {
return Class::ChartAtOrigin::Local(g,H);
}
Class retract(const TangentVector& v) const {
return compose(Class::ChartAtOrigin::Retract(v));
}