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unify duplicated code

release/4.3a0
thduynguyen 2014-12-24 14:08:32 -05:00
parent 5ae9f19de2
commit 5d0e8f202f
1 changed files with 7 additions and 2 deletions
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9
gtsam/geometry/Pose3.h
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@ -204,11 +204,16 @@ public:
*/ */
static Vector6 adjointTranspose(const Vector6& xi, const Vector6& y, OptionalJacobian<6, 6> H = boost::none); 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 /// 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 /// Left-trivialized inverse derivative of the exponential map
static Matrix6 LogmapDerivative(const Vector6& v); static Matrix6 LogmapDerivative(const Vector6& xi);
/** /**
* wedge for Pose3: * wedge for Pose3: