From 7aa06787209cece6d9a2cd1db7578bec46c97016 Mon Sep 17 00:00:00 2001 From: Luca Date: Wed, 28 May 2014 00:14:08 -0400 Subject: [PATCH] added comment --- gtsam/geometry/Pose2.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index 30a4434fe..85307e322 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -178,6 +178,7 @@ Pose2 Pose2::between(const Pose2& p2, boost::optional 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