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More intuitive code

release/4.3a0
Frank Dellaert 2012-01-05 16:43:34 +00:00
parent 2dde2cf27c
commit 5e2f4c0958
1 changed files with 2 additions and 2 deletions
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gtsam/geometry/Point3.h
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@ -87,10 +87,10 @@ namespace gtsam {
inline size_t dim() const { return dimension; } inline size_t dim() const { return dimension; }
/// Updates a with tangent space delta /// 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 /// 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 /// @name Lie Group