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Exposed normalize for Point3_

release/4.3a0
Nikhil Khedekar 2022-11-17 17:47:26 +01:00
parent a2ffca4ea5
commit 70f490b298
1 changed files with 5 additions and 0 deletions
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5
gtsam/slam/expressions.h
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@ -48,6 +48,11 @@ inline Line3_ transformTo(const Pose3_ &wTc, const Line3_ &wL) {
return Line3_(f, wTc, wL); return Line3_(f, wTc, wL);
} }
inline Point3_ normalize(const Point3_& a){
Point3 (*f)(const Point3 &, OptionalJacobian<3, 3>) = &normalize;
return Point3_(f, a);
}
inline Point3_ cross(const Point3_& a, const Point3_& b) { inline Point3_ cross(const Point3_& a, const Point3_& b) {
Point3 (*f)(const Point3 &, const Point3 &, Point3 (*f)(const Point3 &, const Point3 &,
OptionalJacobian<3, 3>, OptionalJacobian<3, 3>) = &cross; OptionalJacobian<3, 3>, OptionalJacobian<3, 3>) = &cross;