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add rotation wrapper

release/4.3a0
Brice Rebsamen 2019-05-22 11:52:14 -07:00
parent c460c14764
commit 56229eda03
1 changed files with 10 additions and 0 deletions
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10
gtsam/slam/expressions.h
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@ -40,6 +40,16 @@ inline Point3_ transformFrom(const Pose3_& x, const Point3_& p) {
return Point3_(x, &Pose3::transformFrom, p); return Point3_(x, &Pose3::transformFrom, p);
} }
namespace internal {
Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) {
return pose.rotation(H);
}
} // namespace internal
inline Rot3_ rotation(const Pose3_& pose) {
return Rot3_(internal::rotation, pose);
}
inline Point3_ rotate(const Rot3_& x, const Point3_& p) { inline Point3_ rotate(const Rot3_& x, const Point3_& p) {
return Point3_(x, &Rot3::rotate, p); return Point3_(x, &Rot3::rotate, p);
} }