12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed issue with retract/between

release/4.3a0
dellaert 2014-12-26 20:56:34 +01:00
parent a59ace5879
commit 3208395b84
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
matlab.h
View File

@ -143,7 +143,7 @@ void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
sigma);
Sampler sampler(model, seed);
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, values.filter<Point2>()) {
values.update(key_value.key, key_value.value.retract(sampler.sample()));
values.update(key_value.key, key_value.value + Point2(sampler.sample()));
}
}
@ -164,7 +164,7 @@ void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
sigma);
Sampler sampler(model, seed);
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, values.filter<Point3>()) {
values.update(key_value.key, key_value.value.retract(sampler.sample()));
values.update(key_value.key, key_value.value + Point3(sampler.sample()));
}
}