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untabify

release/4.3a0
Mike Bosse 2014-12-12 10:05:03 +01:00
parent 409214e165
commit 6f992e623e
1 changed files with 25 additions and 23 deletions
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GTSAM-Concepts.md
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@ -125,12 +125,14 @@ In addition, a Lie group has a Lie algebra, which affords two extra valid expres
Note that in the Lie group case, the usual valid expressions for Retract and Local can be generated automatically, e.g. Note that in the Lie group case, the usual valid expressions for Retract and Local can be generated automatically, e.g.
```
T Retract(p,v,Hp,Hv) { T Retract(p,v,Hp,Hv) {
T q = Exp(v,Hqv); T q = Exp(v,Hqv);
T r = Compose(p,q,Hrp,Hrq); T r = Compose(p,q,Hrp,Hrq);
Hv = Hrq * Hqv; // chain rule Hv = Hrq * Hqv; // chain rule
return r; return r;
} }
```
Lie Group Action Lie Group Action
---------------- ----------------