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Address review comments

release/4.3a0
Frank Dellaert 2025-03-08 19:45:52 -05:00
parent 572b11fee4
commit 6d47bd4552
1 changed files with 2 additions and 2 deletions
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gtsam/base/Lie.h
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@ -229,7 +229,7 @@ struct LieGroupTraits: public GetDimensionImpl<Class, Class::dimension> {
/// Both LieGroupTraits and Testable /// Both LieGroupTraits and Testable
template<class Class> struct LieGroup: LieGroupTraits<Class>, Testable<Class> {}; template<class Class> struct LieGroup: LieGroupTraits<Class>, Testable<Class> {};
/// Adds LieAlgebra, Hat, and Vie to LieGroupTraits /// Adds LieAlgebra, Hat, and Vee to LieGroupTraits
template<class Class> struct MatrixLieGroupTraits: LieGroupTraits<Class> { template<class Class> struct MatrixLieGroupTraits: LieGroupTraits<Class> {
using LieAlgebra = typename Class::LieAlgebra; using LieAlgebra = typename Class::LieAlgebra;
using TangentVector = typename LieGroupTraits<Class>::TangentVector; using TangentVector = typename LieGroupTraits<Class>::TangentVector;
@ -351,7 +351,7 @@ template <class T> Matrix wedge(const Vector& x);
*/ */
template <class T> template <class T>
T expm(const Vector& x, int K = 7) { T expm(const Vector& x, int K = 7) {
auto xhat = T::Hat(x); const Matrix xhat = T::Hat(x);
return T(expm(xhat, K)); return T(expm(xhat, K));
} }