12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/base/VectorSpace.h
View File

@ -138,14 +138,14 @@ struct VectorSpaceImpl<Class,Eigen::Dynamic> {
}
static Class Compose(const Class& v1, const Class& v2, ChartJacobian H1,
ChartJacobian H2) {
ChartJacobian H2 = boost::none) {
if (H1) *H1 = Eye(v1);
if (H2) *H2 = Eye(v2);
return v1 + v2;
}
static Class Between(const Class& v1, const Class& v2, ChartJacobian H1,
ChartJacobian H2) {
ChartJacobian H2 = boost::none) {
if (H1) *H1 = - Eye(v1);
if (H2) *H2 = Eye(v2);
return v2 - v1;