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Merged in pose_rotation_prior_logmap_fix (pull request #20) 

Fixed PoseRotationPrior error calculation.
release/4.3a0
Frank Dellaert 2014-10-07 21:12:42 +02:00
parent 0c7368f408 7c8716f746
commit 2000dbb868
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/PoseRotationPrior.h
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@ -77,7 +77,7 @@ public:
(*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim); (*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim);
} }
return Rotation::Logmap(newR) - Rotation::Logmap(measured_); return measured_.localCoordinates(newR);
} }
private: private: