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rename Pose3 parameter from point to pose

release/4.3a0
Haldean Brown 2017-03-30 12:53:01 -07:00
parent 5ae331ad04
commit 2058b92882
2 changed files with 4 additions and 4 deletions
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6
gtsam/geometry/Pose3.cpp
View File

@ -379,13 +379,13 @@ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1,
} }
/* ************************************************************************* */ /* ************************************************************************* */
Unit3 Pose3::bearing(const Pose3& point, OptionalJacobian<2, 6> H1, Unit3 Pose3::bearing(const Pose3& pose, OptionalJacobian<2, 6> H1,
OptionalJacobian<2, 6> H2) const { OptionalJacobian<2, 6> H2) const {
if (H2) { if (H2) {
H2->setZero(); H2->setZero();
return bearing(point.translation(), H1, H2.cols<3>(3)); return bearing(pose.translation(), H1, H2.cols<3>(3));
} }
return bearing(point.translation(), H1, boost::none); return bearing(pose.translation(), H1, boost::none);
} }
/* ************************************************************************* */ /* ************************************************************************* */

2
gtsam/geometry/Pose3.h
View File

@ -288,7 +288,7 @@ public:
* information is ignored. * information is ignored.
* @return bearing (Unit3) * @return bearing (Unit3)
*/ */
Unit3 bearing(const Pose3& point, OptionalJacobian<2, 6> H1 = boost::none, Unit3 bearing(const Pose3& pose, OptionalJacobian<2, 6> H1 = boost::none,
OptionalJacobian<2, 6> H2 = boost::none) const; OptionalJacobian<2, 6> H2 = boost::none) const;
/// @} /// @}