From 5980575fe65894fca62a16524d8e77c4c5cd3145 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 4 Dec 2014 22:33:31 +0000 Subject: [PATCH] q-p --- GTSAM-Concepts.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/GTSAM-Concepts.md b/GTSAM-Concepts.md index b3f366303..3845d7a17 100644 --- a/GTSAM-Concepts.md +++ b/GTSAM-Concepts.md @@ -40,7 +40,7 @@ A given chart is implemented using a small class that defines the chart itself ( * types: * `Manifold`, a pointer back to the type * valid expressions: - * `v = Chart::local(p,q)`, the chart, from manifold to tangent space, think of it as *p (-) q* + * `v = Chart::local(p,q)`, the chart, from manifold to tangent space, think of it as *q (-) p* * `p = Chart::retract(p,v)`, the inverse chart, from tangent space to manifold, think of it as *p (+) v* For many differential manifolds, an obvious mapping is the `exponential map`, which associates straight lines in the tangent space with geodesics on the manifold (and it's inverse, the log map). However, there are two cases in which we deviate from this: