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unrotate is same now, with transpose_

release/4.3a0
dellaert 2014-10-22 22:16:35 +02:00
parent 5a792c8847
commit 483d713859
3 changed files with 6 additions and 11 deletions
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6
gtsam/geometry/Rot3.cpp
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@ -255,6 +255,12 @@ ostream &operator<<(ostream &os, const Rot3& R) {
return os;
}
/* ************************************************************************* */
Point3 Rot3::unrotate(const Point3& p) const {
// Eigen expression
return Point3(transpose_*p.vector()); // q = Rt*p
}
/* ************************************************************************* */
} // namespace gtsam

6
gtsam/geometry/Rot3M.cpp
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@ -313,12 +313,6 @@ Quaternion Rot3::toQuaternion() const {
return Quaternion(rot_);
}
/* ************************************************************************* */
Point3 Rot3::unrotate(const Point3& p) const {
// Eigen expression
return Point3(transpose()*p.vector()); // q = Rt*p
}
/* ************************************************************************* */
} // namespace gtsam

5
gtsam/geometry/Rot3Q.cpp
View File

@ -173,11 +173,6 @@ namespace gtsam {
/* ************************************************************************* */
Quaternion Rot3::toQuaternion() const { return quaternion_; }
/* ************************************************************************* */
Point3 Rot3::unrotate(const Point3& p) const {
return Point3(transpose()*p.vector()); // q = Rt*p
}
/* ************************************************************************* */
} // namespace gtsam