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Merge branch 'develop' into danbarla_dev

release/4.3a0
Dan Barladeanu 2021-06-03 22:27:34 +03:00
parent fcd31692b8 26356db7af
commit 47b89ddd32
1 changed files with 2 additions and 1 deletions
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gtsam/geometry/SO3.cpp
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@ -278,7 +278,8 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) {
} else { } else {
// when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0) // when theta near 0, +-2pi, +-4pi, etc. (trace near 3.0)
// use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2) // use Taylor expansion: theta \approx 1/2-(t-3)/12 + O((t-3)^2)
magnitude = 0.5 - tr_3 * tr_3 / 12.0; // see https://github.com/borglab/gtsam/issues/746 for details
magnitude = 0.5 - tr_3 / 12.0;
} }
omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12); omega = magnitude * Vector3(R32 - R23, R13 - R31, R21 - R12);
} }