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fix optional jacobians

release/4.3a0
Jing Dong 2016-12-08 15:19:18 -05:00
parent d7d35876f1
commit 5fa4abf99c
1 changed files with 2 additions and 2 deletions
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4
gtsam/base/VectorSpace.h
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@ -138,14 +138,14 @@ struct VectorSpaceImpl<Class,Eigen::Dynamic> {
} }
static Class Compose(const Class& v1, const Class& v2, ChartJacobian H1, static Class Compose(const Class& v1, const Class& v2, ChartJacobian H1,
ChartJacobian H2) { ChartJacobian H2 = boost::none) {
if (H1) *H1 = Eye(v1); if (H1) *H1 = Eye(v1);
if (H2) *H2 = Eye(v2); if (H2) *H2 = Eye(v2);
return v1 + v2; return v1 + v2;
} }
static Class Between(const Class& v1, const Class& v2, ChartJacobian H1, static Class Between(const Class& v1, const Class& v2, ChartJacobian H1,
ChartJacobian H2) { ChartJacobian H2 = boost::none) {
if (H1) *H1 = - Eye(v1); if (H1) *H1 = - Eye(v1);
if (H2) *H2 = Eye(v2); if (H2) *H2 = Eye(v2);
return v2 - v1; return v2 - v1;