small changes so that SLOW_BUT_CORRECT_EXPMAP compiles
							parent
							
								
									fdae3d6f02
								
							
						
					
					
						commit
						14cb0be4af
					
				|  | @ -39,7 +39,7 @@ namespace gtsam { | |||
| 
 | ||||
| #ifdef SLOW_BUT_CORRECT_EXPMAP | ||||
| 
 | ||||
| 	template<> Pose2 expmap(const Vector& xi) { | ||||
| 	Pose2 Pose2::Expmap(const Vector& xi) { | ||||
| 		Point2 v(xi(0),xi(1)); | ||||
| 		double w = xi(2); | ||||
| 		if (fabs(w) < 1e-5) | ||||
|  | @ -52,7 +52,7 @@ namespace gtsam { | |||
| 		} | ||||
| 	} | ||||
| 
 | ||||
|   Vector logmap(const Pose2& p) { | ||||
|   Vector Pose2::Logmap(const Pose2& p) { | ||||
|   	const Rot2& R = p.r(); | ||||
|   	const Point2& t = p.t(); | ||||
| 		double w = R.theta(); | ||||
|  |  | |||
|  | @ -105,7 +105,7 @@ TEST(Pose3, expmap_c) | |||
| { | ||||
|   EXPECT(assert_equal(screw::expected, expm<Pose2>(screw::xi),1e-6)); | ||||
|   EXPECT(assert_equal(screw::expected, Pose2::Expmap(screw::xi),1e-6)); | ||||
|   EXPECT(assert_equal(screw::xi, logmap(screw::expected),1e-6)); | ||||
|   EXPECT(assert_equal(screw::xi, Pose2::Logmap(screw::expected),1e-6)); | ||||
| } | ||||
| #endif | ||||
| 
 | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue