12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

changed return value of adjoint map to Matrix3 and also updated the inverse factor os Pose2

release/4.3a0
nsrinivasan7 2014-11-29 16:27:49 -05:00
parent b4ee5e1105
commit 1ccb395a6c
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/geometry/Pose2.h
View File

@ -107,7 +107,7 @@ public:
inline static Pose2 identity() { return Pose2(); } inline static Pose2 identity() { return Pose2(); }
/// inverse transformation with derivatives /// inverse transformation with derivatives
Pose2 inverse(boost::optional<Matrix&> H1=boost::none) const; Pose2 inverse(OptionalJacobian<3, 3> H1=boost::none) const;
/// compose this transformation onto another (first *this and then p2) /// compose this transformation onto another (first *this and then p2)
Pose2 compose(const Pose2& p2, Pose2 compose(const Pose2& p2,
@ -155,7 +155,7 @@ public:
* Calculate Adjoint map * Calculate Adjoint map
* Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi) * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
*/ */
Matrix AdjointMap() const; Matrix3 AdjointMap() const;
inline Vector Adjoint(const Vector& xi) const { inline Vector Adjoint(const Vector& xi) const {
assert(xi.size() == 3); assert(xi.size() == 3);
return AdjointMap()*xi; return AdjointMap()*xi;