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Alternate matrix operation

release/4.3a0
Alex Cunningham 2012-09-03 00:39:02 +00:00
parent 832072c940
commit 2285b14c5f
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/PoseRotationPrior.h
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@ -67,9 +67,9 @@ public:
if (H) { if (H) {
*H = gtsam::zeros(rDim, xDim); *H = gtsam::zeros(rDim, xDim);
if (pose_traits::isRotFirst<Pose>()) if (pose_traits::isRotFirst<Pose>())
(*H).leftCols(rDim) = eye(rDim); (*H).leftCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); // FIXME: avoiding use of assign with eye()
else else
(*H).rightCols(rDim) = eye(rDim); (*H).rightCols(rDim).setIdentity(rDim, rDim); // = eye(rDim);
} }
return Rotation::Logmap(newR) - Rotation::Logmap(measured_); return Rotation::Logmap(newR) - Rotation::Logmap(measured_);