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More indentation fixes.

release/4.3a0
Paul Furgale 2014-12-08 08:55:14 +00:00
parent 21596e1894
commit 2b1d907a74
1 changed files with 16 additions and 16 deletions
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GTSAM-Concepts.md
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@ -45,8 +45,8 @@ A given chart is implemented using a small class that defines the chart itself (
For many differential manifolds, an obvious mapping is the `exponential map`, which associates straight lines in the tangent space with geodesics on the manifold (and it's inverse, the log map). However, there are two cases in which we deviate from this:
* Sometimes, most notably for *SO(3)* and *SE(3)*, the exponential map is unnecessarily expensive for use in optimization. Hence, the `defaultChart` functor returns a chart that is much cheaper to evaluate.
* While vector spaces (see below) are in principle also manifolds, it is overkill to think about charts etc. Really, we should simply think about vector addition and subtraction. Hence, while a `defaultChart` functor is defined by default for every vector space, GTSAM will never call it.
* Sometimes, most notably for *SO(3)* and *SE(3)*, the exponential map is unnecessarily expensive for use in optimization. Hence, the `defaultChart` functor returns a chart that is much cheaper to evaluate.
* While vector spaces (see below) are in principle also manifolds, it is overkill to think about charts etc. Really, we should simply think about vector addition and subtraction. Hence, while a `defaultChart` functor is defined by default for every vector space, GTSAM will never call it.
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