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smarter compose

release/4.3a0
Frank Dellaert 2013-06-05 23:40:05 +00:00
parent f4ad135040
commit 64334e2584
1 changed files with 4 additions and 4 deletions
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8
gtsam/geometry/Rot2.h
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@ -116,11 +116,11 @@ namespace gtsam {
}
/** Compose - make a new rotation by adding angles */
inline Rot2 compose(const Rot2& R1, boost::optional<Matrix&> H1 =
inline Rot2 compose(const Rot2& R, boost::optional<Matrix&> H1 =
boost::none, boost::optional<Matrix&> H2 = boost::none) const {
if (H1) *H1 = eye(1);
if (H2) *H2 = eye(1);
return *this * R1;
return fromCosSin(c_ * R.c_ - s_ * R.s_, s_ * R.c_ + c_ * R.s_);
}
/** Compose - make a new rotation by adding angles */
@ -129,11 +129,11 @@ namespace gtsam {
}
/** Between using the default implementation */
inline Rot2 between(const Rot2& p2, boost::optional<Matrix&> H1 =
inline Rot2 between(const Rot2& R, boost::optional<Matrix&> H1 =
boost::none, boost::optional<Matrix&> H2 = boost::none) const {
if (H1) *H1 = -eye(1);
if (H2) *H2 = eye(1);
return between_default(*this, p2);
return fromCosSin(c_ * R.c_ + s_ * R.s_, -s_ * R.c_ + c_ * R.s_);
}
/// @}