added comment

2014-05-28 00:14:08 -04:00 · 2014-05-28 00:14:08 -04:00 · 7aa0678720
parent b5de397747
commit 7aa0678720
1 changed files with 1 additions and 0 deletions
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@ -178,6 +178,7 @@ Pose2 Pose2::between(const Pose2& p2, boost::optional<Matrix&> H1,
  // Calculate delta translation = unrotate(R1, dt);
  Point2 dt = p2.t() - t_;
  double x = dt.x(), y = dt.y();
+  // t = R1' * (t2-t1)
  Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y);

  // FD: This is just -AdjointMap(between(p2,p1)) inlined and re-using above