From 34c1bb6f29733412a47b028bbcd5da863897c07f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 6 Oct 2009 18:02:33 +0000 Subject: [PATCH] Small comment on exmap correctness --- cpp/Pose3.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp index 70fcbffaf..69fa82847 100644 --- a/cpp/Pose3.cpp +++ b/cpp/Pose3.cpp @@ -10,6 +10,7 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ +// Agrawal06iros, formula (6), seems to suggest this could be wrong: Pose3 Pose3::exmap(const Vector& v) const { return Pose3(R_.exmap(sub(v,0,3)), t_.exmap(sub(v,3,6))); }