Merged in pose_rotation_prior_logmap_fix (pull request #20)

Fixed PoseRotationPrior error calculation.
2014-10-07 21:12:42 +02:00 · 2014-10-07 21:12:42 +02:00 · 2000dbb868
parent 0c7368f408 7c8716f746
commit 2000dbb868
1 changed files with 1 additions and 1 deletions
--- a/gtsam/slam/PoseRotationPrior.h
+++ b/gtsam/slam/PoseRotationPrior.h
@ -77,7 +77,7 @@ public:
      (*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim);
    }

-    return Rotation::Logmap(newR) - Rotation::Logmap(measured_);
+    return measured_.localCoordinates(newR);
  }

 private: