From 5d0e8f202fd06193e0fdb859337071799de1374e Mon Sep 17 00:00:00 2001 From: thduynguyen Date: Wed, 24 Dec 2014 14:08:32 -0500 Subject: [PATCH] unify duplicated code --- gtsam/geometry/Pose3.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 15f71344b..8c3c74069 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -204,11 +204,16 @@ public: */ static Vector6 adjointTranspose(const Vector6& xi, const Vector6& y, OptionalJacobian<6, 6> H = boost::none); +private: + static Matrix3 computeQforExpmapDerivative(const Vector6& xi); + +public: + /// Left-trivialized derivative of the exponential map - static Matrix6 ExpmapDerivative(const Vector6& v); + static Matrix6 ExpmapDerivative(const Vector6& xi); /// Left-trivialized inverse derivative of the exponential map - static Matrix6 LogmapDerivative(const Vector6& v); + static Matrix6 LogmapDerivative(const Vector6& xi); /** * wedge for Pose3: