12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Simpler calculation of acceleration

release/4.3a0
Frank 2016-01-26 16:47:45 -08:00
parent cf07c22c2c
commit 5b430da316
1 changed files with 1 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/navigation/Scenario.h
View File

@ -57,8 +57,7 @@ class ConstantTwistScenario : public Scenario {
public: public:
/// Construct scenario with constant twist [w,v] /// Construct scenario with constant twist [w,v]
ConstantTwistScenario(const Vector3& w, const Vector3& v) ConstantTwistScenario(const Vector3& w, const Vector3& v)
: twist_((Vector6() << w, v).finished()), : twist_((Vector6() << w, v).finished()), a_b_(w.cross(v)) {}
a_b_(twist_.head<3>().cross(twist_.tail<3>())) {}
Pose3 pose(double t) const override { return Pose3::Expmap(twist_ * t); } Pose3 pose(double t) const override { return Pose3::Expmap(twist_ * t); }
Vector3 omega_b(double t) const override { return twist_.head<3>(); } Vector3 omega_b(double t) const override { return twist_.head<3>(); }