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Fix constness bug for Pose3::operator*(Point3). Add a comment for function stack in Matrix

release/4.3a0
Duy-Nguyen Ta 2011-07-29 01:55:56 +00:00
parent 641bd239bc
commit 3475720d3b
2 changed files with 2 additions and 1 deletions
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1
gtsam/base/Matrix.h
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@ -355,6 +355,7 @@ Vector backSubstituteLower(const Matrix& L, const Vector& d, bool unit=false);
/**
* create a matrix by stacking other matrices
* Given a set of matrices: A1, A2, A3...
* @param ... pointers to matrices to be stacked
* @return combined matrix [A1; A2; A3]
*/
Matrix stack(size_t nrMatrices, ...);

2
gtsam/geometry/Pose3.h
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@ -102,7 +102,7 @@ namespace gtsam {
boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const;
/** syntactic sugar for transform */
inline Point3 operator*(const Point3& p) { return transform_from(p); }
inline Point3 operator*(const Point3& p) const { return transform_from(p); }
/** receives the point in world coordinates and transforms it to Pose coordinates */
Point3 transform_to(const Point3& p,