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Fixed PoseRotationPrior error calculation. 

Use measured_.localCoordinates not difference between Logmap
values to handle wraparound properly.
release/4.3a0
Lachlan Toohey 2014-10-07 11:29:09 +11:00
parent 0c7368f408
commit 7c8716f746
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/PoseRotationPrior.h
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@ -77,7 +77,7 @@ public:
(*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim); (*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim);
} }
return Rotation::Logmap(newR) - Rotation::Logmap(measured_); return measured_.localCoordinates(newR);
} }
private: private: