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

Small comment on exmap correctness

release/4.3a0
Frank Dellaert 2009-10-06 18:02:33 +00:00
parent 7e77ae5f53
commit 34c1bb6f29
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
cpp/Pose3.cpp
View File

@ -10,6 +10,7 @@ using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
// Agrawal06iros, formula (6), seems to suggest this could be wrong:
Pose3 Pose3::exmap(const Vector& v) const { Pose3 Pose3::exmap(const Vector& v) const {
return Pose3(R_.exmap(sub(v,0,3)), t_.exmap(sub(v,3,6))); return Pose3(R_.exmap(sub(v,0,3)), t_.exmap(sub(v,3,6)));
} }