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changed optional matrices to Optional Jacobians

release/4.3a0
nsrinivasan7 2015-02-11 16:56:26 -05:00
parent a6ee1231a0
commit 493a4f7f86
2 changed files with 4 additions and 4 deletions
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4
gtsam/geometry/OrientedPlane3.cpp
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@ -35,8 +35,8 @@ void OrientedPlane3::print(const std::string& s) const {
/* ************************************************************************* */
OrientedPlane3 OrientedPlane3::Transform (const gtsam::OrientedPlane3& plane,
const gtsam::Pose3& xr,
boost::optional<Matrix&> Hr,
boost::optional<Matrix&> Hp)
OptionalJacobian<3, 6> Hr,
OptionalJacobian<3, 3> Hp)
{
Matrix n_hr;
Matrix n_hp;

4
gtsam/geometry/OrientedPlane3.h
View File

@ -76,8 +76,8 @@ public:
/// Transforms a plane to the specified pose
static OrientedPlane3 Transform (const gtsam::OrientedPlane3& plane,
const gtsam::Pose3& xr,
boost::optional<Matrix&> Hr,
boost::optional<Matrix&> Hp);
OptionalJacobian<3, 6> Hr = boost::none,
OptionalJacobian<3, 3> Hp = boost::none);
/// Computes the error between two poses
Vector3 error (const gtsam::OrientedPlane3& plane) const;