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changed naming in comments about expmap & logmap jacobians

release/4.3a0
Luca 2014-12-08 16:27:57 -05:00
parent f991c1a398
commit 54ee973309
1 changed files with 7 additions and 7 deletions
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gtsam/geometry/Rot3.h
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@ -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);