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use transform rather than deprecated static function

release/4.3a0
Frank Dellaert 2021-01-21 10:46:23 -05:00
parent b5789f6b80
commit 6b11c9fe83
1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/OrientedPlane3Factor.h
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@ -47,9 +47,9 @@ public:
/// evaluateError /// evaluateError
Vector evaluateError( Vector evaluateError(
const Pose3& pose, const OrientedPlane3& plane, const Pose3& pose, const OrientedPlane3& plane,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> Hpose = boost::none,
boost::optional<Matrix&> H2 = boost::none) const override { boost::optional<Matrix&> Hplane = boost::none) const override {
auto predicted_plane = OrientedPlane3::Transform(plane, pose, H1, H2); auto predicted_plane = plane.transform(pose, Hplane, Hpose);
return predicted_plane.error(measured_p_); return predicted_plane.error(measured_p_);
} }
}; };