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Fix typo

release/4.3a0
Fan Jiang 2021-10-13 13:48:41 -04:00
parent 35061ca135
commit 48cd9794da
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/SO3.cpp
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@ -275,7 +275,7 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) {
const double scale = M_PI_2 / r - 0.5 / (r * r) * (R13 - R31); const double scale = M_PI_2 / r - 0.5 / (r * r) * (R13 - R31);
omega = sgn_w * scale * Vector3(R21 + R12, 2.0 + 2.0 * R22, R23 + R32); omega = sgn_w * scale * Vector3(R21 + R12, 2.0 + 2.0 * R22, R23 + R32);
} else { } else {
// R33 is the largest diagonal // R11 is the largest diagonal
const double sgn_w = (R32 - R23) < 0 ? -1.0 : 1.0; const double sgn_w = (R32 - R23) < 0 ? -1.0 : 1.0;
const double r = sqrt(2.0 + 2.0 * R11); const double r = sqrt(2.0 + 2.0 * R11);
const double scale = M_PI_2 / r - 0.5 / (r * r) * (R32 - R23); const double scale = M_PI_2 / r - 0.5 / (r * r) * (R32 - R23);