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Merged in fix/ExpmapArgument (pull request #204) 

Correct Expmap argument
release/4.3a0
Frank Dellaert 2016-01-18 00:52:52 -08:00
parent af40679dbf e6b9c6fc95
commit 43334e0f8b
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/Rot3.h
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@ -310,7 +310,7 @@ namespace gtsam {
* Exponential map at identity - create a rotation from canonical coordinates * Exponential map at identity - create a rotation from canonical coordinates
* \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula
*/ */
static Rot3 Expmap(const Vector& v, OptionalJacobian<3,3> H = boost::none) { static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = boost::none) {
if(H) *H = Rot3::ExpmapDerivative(v); if(H) *H = Rot3::ExpmapDerivative(v);
#ifdef GTSAM_USE_QUATERNIONS #ifdef GTSAM_USE_QUATERNIONS
return traits<Quaternion>::Expmap(v); return traits<Quaternion>::Expmap(v);