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Fixed problems with last commit

release/4.3a0
Richard Roberts 2013-04-05 21:37:35 +00:00
parent 547323cc79
commit 315223b166
2 changed files with 4 additions and 4 deletions
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2
gtsam/base/Matrix.h
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@ -479,7 +479,7 @@ GTSAM_EXPORT Matrix Cayley(const Matrix& A);
template<int N> template<int N>
Eigen::Matrix<double, N, N> Cayley(const Eigen::Matrix<double, N, N>& A) { Eigen::Matrix<double, N, N> Cayley(const Eigen::Matrix<double, N, N>& A) {
typedef Eigen::Matrix<double, N, N> FMat; typedef Eigen::Matrix<double, N, N> FMat;
return Eigen::Matrix<double, N, N> = (FMat::Identity() - A)*(FMat::Identity() + A).inverse(); return (FMat::Identity() - A)*(FMat::Identity() + A).inverse();
} }
} // namespace gtsam } // namespace gtsam

6
gtsam/geometry/Rot3M.cpp
View File

@ -167,7 +167,7 @@ Point3 Rot3::operator*(const Point3& p) const { return rotate(p); }
/* ************************************************************************* */ /* ************************************************************************* */
Rot3 Rot3::inverse(boost::optional<Matrix&> H1) const { Rot3 Rot3::inverse(boost::optional<Matrix&> H1) const {
if (H1) *H1 = -rot_; if (H1) *H1 = -rot_;
return Rot3(rot_.transpose()); return Rot3(Matrix3(rot_.transpose()));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -175,13 +175,13 @@ Rot3 Rot3::between (const Rot3& R2,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
if (H1) *H1 = -(R2.transpose()*rot_); if (H1) *H1 = -(R2.transpose()*rot_);
if (H2) *H2 = I3; if (H2) *H2 = I3;
return Rot3(rot_.transpose()*R2.rot_); return Rot3(Matrix3(rot_.transpose()*R2.rot_));
//return between_default(*this, R2); //return between_default(*this, R2);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot3 Rot3::operator*(const Rot3& R2) const { Rot3 Rot3::operator*(const Rot3& R2) const {
return Rot3(rot_*R2.rot_); return Rot3(Matrix3(rot_*R2.rot_));
} }
/* ************************************************************************* */ /* ************************************************************************* */