Fixed compile error from develop

2014-12-25 18:16:47 +01:00 · 2014-12-25 18:16:47 +01:00 · 5c0db68152
parent b5c5a268a7
commit 5c0db68152
1 changed files with 1 additions and 1 deletions
--- a/gtsam_unstable/dynamics/SimpleHelicopter.h
+++ b/gtsam_unstable/dynamics/SimpleHelicopter.h
@ -60,7 +60,7 @@ public:
    }

    if (H3) {
-      Matrix D_exphxi_xi = Pose3::dExpInv_exp(h_*xik)*h_;
+      Matrix D_exphxi_xi = Pose3::LogmapDerivative(h_*xik)*h_;
      Matrix D_hx_xi = D_hx_gkxi * D_gkxi_exphxi * D_exphxi_xi;
      *H3 = D_hx_xi;
    }