From 5e2f4c09588b3dc11bc27c787bcb83c2f48a4deb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 5 Jan 2012 16:43:34 +0000 Subject: [PATCH] More intuitive code --- gtsam/geometry/Point3.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index a01f5009b..884bb8cd0 100644 --- 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