From 409a0215b88d548524d39cdddbee73de63889bb9 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 31 Dec 2018 15:37:31 -0500
Subject: [PATCH] Added adjoint operators etc.

---
 gtsam.h | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 629fd70cf..d9052f65b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -573,8 +573,13 @@ class Pose2 {
   // Lie Group
   static gtsam::Pose2 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose2& p);
+  static Matrix ExpmapDerivative(Vector v);
+  static Matrix LogmapDerivative(const gtsam::Pose2& v);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  static Matrix adjointMap(Vector v);
+  Vector adjoint(Vector xi, Vector y);
+  Vector adjointTranspose(Vector xi, Vector y);
   static Matrix wedge(double vx, double vy, double w);
 
   // Group Actions on Point2
@@ -623,6 +628,11 @@ class Pose3 {
   static Vector Logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  static Matrix adjointMap(Vector xi);
+  static Vector adjoint(Vector xi, Vector y);
+  static Vector adjointTranspose(Vector xi, Vector y);
+  static Matrix ExpmapDerivative(Vector xi);
+  static Matrix LogmapDerivative(const gtsam::Pose3& xi);
   static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
 
   // Group Action on Point3