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Fix GTSAM_TYPEDEF_POINTS_TO_VECTORS.

release/4.3a0
alexma3312 2020-08-16 13:00:27 -04:00
parent aa2d0f3dec
commit 58ec261cd7
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/geometry/Similarity3.cpp
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@ -87,7 +87,7 @@ Point3 Similarity3::transformFrom(const Point3& p, //
Pose3 Similarity3::transformFrom(const Pose3& T) const { Pose3 Similarity3::transformFrom(const Pose3& T) const {
Rot3 R = R_.compose(T.rotation()); Rot3 R = R_.compose(T.rotation());
Point3 t = Point3(s_ * (R_.matrix() * T.translation().vector() + t_.vector())); Point3 t = Point3(s_ * (R_ * T.translation() + t_));
return Pose3(R, t); return Pose3(R, t);
} }