More intuitive code

2012-01-05 16:43:34 +00:00 · 2012-01-05 16:43:34 +00:00 · 5e2f4c0958
parent 2dde2cf27c
commit 5e2f4c0958
1 changed files with 2 additions and 2 deletions
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@ -87,10 +87,10 @@ namespace gtsam {
    inline size_t dim() const { return dimension; }

  	/// Updates a with tangent space delta
-  	inline Point3 retract(const Vector& v) const { return compose(Expmap(v)); }
+  	inline Point3 retract(const Vector& v) const { return Point3(*this + v); }

  	/// Returns inverse retraction
-  	inline Vector localCoordinates(const Point3& t2) const { return Logmap(t2) - Logmap(*this); }
+  	inline Vector localCoordinates(const Point3& q) const { return (q -*this).vector(); }

    /// @}
    /// @name Lie Group