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delete "FIXME" because `compose` unit tests check `AdjointMap`

release/4.3a0
Gerry Chen 2021-10-26 03:24:00 -04:00
parent f0fc0d4457
commit 115852cef7
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/Pose3.h
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@ -145,7 +145,7 @@ public:
* Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame * Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame
* Ad_pose is 6*6 matrix that when applied to twist xi \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$, returns Ad_pose(xi) * Ad_pose is 6*6 matrix that when applied to twist xi \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$, returns Ad_pose(xi)
*/ */
Matrix6 AdjointMap() const; /// FIXME Not tested - marked as incorrect Matrix6 AdjointMap() const;
/** /**
* Apply this pose's AdjointMap Ad_g to a twist \f$ \xi_b \f$, i.e. a * Apply this pose's AdjointMap Ad_g to a twist \f$ \xi_b \f$, i.e. a