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Merge pull request #814 from borglab/fix/misc

release/4.3a0
Varun Agrawal 2021-07-09 18:19:03 -04:00 committed by GitHub
parent cd3854a1f6 d7d9ac0f06
commit 4fc68593ac
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2 changed files with 2 additions and 1 deletions
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2
gtsam/geometry/Pose3.h
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@ -142,7 +142,7 @@ public:
static Vector6 Logmap(const Pose3& pose, OptionalJacobian<6, 6> Hpose = boost::none);
/**
* Calculate Adjoint map, transforming a twist in the this pose's (i.e, body) frame to the world spatial frame
* Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame
* Ad_pose is 6*6 matrix that when applied to twist xi \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$, returns Ad_pose(xi)
*/
Matrix6 AdjointMap() const; /// FIXME Not tested - marked as incorrect

1
gtsam/gtsam.i
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@ -690,6 +690,7 @@ class Pose3 {
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& pose);
gtsam::Pose3 expmap(Vector v);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;