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fix: type error in comments

release/4.3a0
zhaoyang 2015-07-12 14:37:03 -04:00
parent 6bf96c7ed4
commit 05a55b262a
1 changed files with 3 additions and 3 deletions
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6
gtsam/geometry/Unit3.cpp
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@ -153,14 +153,14 @@ Unit3 Unit3::retract(const Vector2& v) const {
/* ************************************************************************* */
Vector2 Unit3::localCoordinates(const Unit3& other) const {
const double x = p_.dot(other.p_);
// Crucial quantitity here is y = theta/sin(theta) with theta=acos(x)
// Crucial quantity here is y = theta/sin(theta) with theta=acos(x)
// Now, y = acos(x) / sin(acos(x)) = acos(x)/sqrt(1-x^2)
// We treat the special caes 1 and -1 below
// We treat the special case 1 and -1 below
const double x2 = x * x;
const double z = 1 - x2;
double y;
if (z < std::numeric_limits<double>::epsilon()) {
if (x > 0) // expand at x=1
if (x > 0) // first order expansion at x=1
y = 1.0 - (x - 1.0) / 3.0;
else // cop out
return Vector2(M_PI, 0.0);