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Removed pointer output argument, used safe Matrix initializer

release/4.3a0
Frank Dellaert 2013-12-17 02:02:43 +00:00
parent 179f17eb1e
commit 252784b449
2 changed files with 8 additions and 12 deletions
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18
gtsam/geometry/Sphere2.cpp
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@ -25,7 +25,7 @@ using namespace std;
namespace gtsam {
/* ************************************************************************* */
Matrix Sphere2::getBasis(Vector* axisOutput) const {
Matrix Sphere2::getBasis() const {
// Get the axis of rotation with the minimum projected length of the point
Point3 axis;
@ -46,19 +46,16 @@ Matrix Sphere2::getBasis(Vector* axisOutput) const {
b2 = b2 / b2.norm();
// Create the basis matrix
Matrix basis = Matrix_(3, 2, b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z());
// Return the axis if requested
if (axisOutput != NULL)
*axisOutput = Point3::Logmap(axis);
return basis;
Matrix B(3,2);
B << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z();
return B;
}
/* ************************************************************************* */
/// The print fuction
void Sphere2::print(const std::string& s) const {
printf("%s(x, y, z): (%.3lf, %.3lf, %.3lf)\n", s.c_str(), p_.x(), p_.y(),
p_.z());
printf("%s(x, y, z): (%.3lf, %.3lf, %.3lf)\n", //
s.c_str(), p_.x(), p_.y(), p_.z());
}
/* ************************************************************************* */
@ -66,8 +63,7 @@ Sphere2 Sphere2::retract(const Vector& v) const {
// Get the vector form of the point and the basis matrix
Vector p = Point3::Logmap(p_);
Vector axis;
Matrix B = getBasis(&axis);
Matrix B = getBasis();
// Compute the 3D xi_hat vector
Vector xi_hat = v(0) * B.col(0) + v(1) * B.col(1);

2
gtsam/geometry/Sphere2.h
View File

@ -30,7 +30,7 @@ private:
Point3 p_; ///< The location of the point on the unit sphere
/// Returns the axis of rotations
Matrix getBasis(Vector* axisOutput = NULL) const;
Matrix getBasis() const;
public: