From 472fe8065649b5cfe7d12be7490448ca011ff41d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 4 Nov 2011 14:30:11 +0000
Subject: [PATCH] Easier constructor

---
 gtsam/geometry/Pose2.h | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index e1d40265a..d69e09874 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -76,9 +76,7 @@ namespace gtsam {
 
     /** Construct from canonical coordinates (Lie algebra) */
     Pose2(const Vector& v) {
-    	Pose2 pose = Expmap(v);
-    	r_ = pose.r_;
-    	t_ = pose.t_;
+    	*this = Expmap(v);
     }
 
     /** print with optional string */