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Change sim3 variable from T to S.

release/4.3a0
alexma3312 2020-08-19 16:48:05 -04:00
parent 6f33d00654
commit 362c93bb2b
2 changed files with 3 additions and 3 deletions
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4
gtsam_unstable/geometry/Similarity3.cpp
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@ -61,8 +61,8 @@ void Similarity3::print(const std::string& s) const {
Similarity3 Similarity3::identity() { Similarity3 Similarity3::identity() {
return Similarity3(); return Similarity3();
} }
Similarity3 Similarity3::operator*(const Similarity3& T) const { Similarity3 Similarity3::operator*(const Similarity3& S) const {
return Similarity3(R_ * T.R_, ((1.0 / T.s_) * t_) + R_ * T.t_, s_ * T.s_); return Similarity3(R_ * S.R_, ((1.0 / S.s_) * t_) + R_ * S.t_, s_ * S.s_);
} }
Similarity3 Similarity3::inverse() const { Similarity3 Similarity3::inverse() const {

2
gtsam_unstable/geometry/Similarity3.h
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@ -88,7 +88,7 @@ public:
GTSAM_UNSTABLE_EXPORT static Similarity3 identity(); GTSAM_UNSTABLE_EXPORT static Similarity3 identity();
/// Composition /// Composition
GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& T) const; GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const;
/// Return the inverse /// Return the inverse
GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const; GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const;