From 54ee973309249f4db5c505d60fa1ed4ff592e5a1 Mon Sep 17 00:00:00 2001 From: Luca Date: Mon, 8 Dec 2014 16:27:57 -0500 Subject: [PATCH] changed naming in comments about expmap & logmap jacobians --- gtsam/geometry/Rot3.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index cdb0bf305..87a035bfb 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -319,19 +319,19 @@ namespace gtsam { /** * Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. - * expmap(thetahat + thetatilde) \approx expmap(thetahat) * expmap(Jr * thetatilde) + * expmap(thetahat + omega) \approx expmap(thetahat) * expmap(Jr * omega) * where Jr = rightJacobianExpMapSO3(thetahat); - * This maps a perturbation in the tangent space (thetatilde) to - * a perturbation on the manifold (expmap(Jr * thetatilde)) + * This maps a perturbation in the tangent space (omega) to + * a perturbation on the manifold (expmap(Jr * omega)) */ static Matrix3 rightJacobianExpMapSO3(const Vector3& x); /** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. - * logmap( Rhat * Rtilde) \approx logmap( Rhat ) + Jrinv * logmap( Rtilde ) - * where Jrinv = rightJacobianExpMapSO3inverse(logmap( Rtilde )); - * This maps a perturbation on the manifold (Rtilde) - * to a perturbation in the tangent space (Jrinv * logmap( Rtilde )) + * logmap( Rhat * expmap(omega) ) \approx logmap( Rhat ) + Jrinv * omega + * where Jrinv = rightJacobianExpMapSO3inverse(omega); + * This maps a perturbation on the manifold (expmap(omega)) + * to a perturbation in the tangent space (Jrinv * omega) */ static Matrix3 rightJacobianExpMapSO3inverse(const Vector3& x);