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Templated version of skewSymmetric to work with fixed-size matrices

release/4.3a0
Richard Roberts 2012-05-15 14:35:40 +00:00
parent 913029cc93
commit 0e0680d3c9
1 changed files with 2 additions and 1 deletions
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3
gtsam/base/Matrix.h
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@ -398,7 +398,8 @@ Matrix vector_scale(const Matrix& A, const Vector& v, bool inf_mask = false); //
* @return a 3*3 skew symmetric matrix * @return a 3*3 skew symmetric matrix
*/ */
Matrix3 skewSymmetric(double wx, double wy, double wz); Matrix3 skewSymmetric(double wx, double wy, double wz);
inline Matrix3 skewSymmetric(const Vector& w) { return skewSymmetric(w(0),w(1),w(2));} template<class Derived>
inline Matrix3 skewSymmetric(const Eigen::MatrixBase<Derived>& w) { return skewSymmetric(w(0),w(1),w(2));}
/** Use SVD to calculate inverse square root of a matrix */ /** Use SVD to calculate inverse square root of a matrix */
Matrix inverse_square_root(const Matrix& A); Matrix inverse_square_root(const Matrix& A);