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Fixed compile error from develop

release/4.3a0
dellaert 2014-12-25 18:16:47 +01:00
parent b5c5a268a7
commit 5c0db68152
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/dynamics/SimpleHelicopter.h
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@ -60,7 +60,7 @@ public:
} }
if (H3) { 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; Matrix D_hx_xi = D_hx_gkxi * D_gkxi_exphxi * D_exphxi_xi;
*H3 = D_hx_xi; *H3 = D_hx_xi;
} }