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release/4.3a0
Luca 2014-05-28 00:14:08 -04:00
parent b5de397747
commit 7aa0678720
1 changed files with 1 additions and 0 deletions
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gtsam/geometry/Pose2.cpp
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@ -178,6 +178,7 @@ Pose2 Pose2::between(const Pose2& p2, boost::optional<Matrix&> H1,
// Calculate delta translation = unrotate(R1, dt); // Calculate delta translation = unrotate(R1, dt);
Point2 dt = p2.t() - t_; Point2 dt = p2.t() - t_;
double x = dt.x(), y = dt.y(); double x = dt.x(), y = dt.y();
// t = R1' * (t2-t1)
Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y); Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y);
// FD: This is just -AdjointMap(between(p2,p1)) inlined and re-using above // FD: This is just -AdjointMap(between(p2,p1)) inlined and re-using above