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set attitude jacobian to zero in Pose3-to-Pose3 bearing

release/4.3a0
Haldean Brown 2017-03-15 10:36:10 -07:00
parent 42e7e31340
commit 5389877896
1 changed files with 1 additions and 0 deletions
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gtsam/geometry/Pose3.cpp
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@ -382,6 +382,7 @@ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1,
Unit3 Pose3::bearing(const Pose3& point, OptionalJacobian<2, 6> H1,
OptionalJacobian<2, 6> H2) const {
if (H2) {
H2->setZero();
return bearing(point.translation(), H1, H2.cols<3>(3));
}
return bearing(point.translation(), H1, boost::none);