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Fixed Logmap

release/4.3a0
dellaert 2015-02-10 22:26:29 +01:00
parent 8f36e33566
commit 47ad4c13f7
1 changed files with 1 additions and 1 deletions
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2
gtsam/geometry/Rot3Q.cpp
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@ -136,7 +136,7 @@ namespace gtsam {
/* ************************************************************************* */
Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) {
// if(H) *H = Rot3::LogmapDerivative(thetaR);
// return QuaternionChart::Logmap(R.quaternion_);
return traits<Quaternion>::Logmap(R.quaternion_, H);
return Vector3(0,0,0);
}