From 7e30cc7c9d4ec295ea0a08171ad238681b52ce08 Mon Sep 17 00:00:00 2001
From: Dan McGann <dmcgann@andrew.cmu.edu>
Date: Sun, 9 Apr 2023 11:38:40 -0400
Subject: [PATCH] Convert Pose2 r/t accessors to inline

---
 gtsam/geometry/Pose2.cpp | 15 ---------------
 gtsam/geometry/Pose2.h   | 13 +++++++++++--
 2 files changed, 11 insertions(+), 17 deletions(-)

diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 4892af60a..0d9f1bc01 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -32,21 +32,6 @@ GTSAM_CONCEPT_POSE_INST(Pose2)
 
 static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.));
 
-/* ************************************************************************* */
-const Point2 &Pose2::translation(OptionalJacobian<2, 3> Hself) const {
-  if (Hself) {
-    *Hself = Matrix::Zero(2, 3);
-    (*Hself).block<2, 2>(0, 0) = rotation().matrix();
-  }
-  return t_;
-}
-
-/* ************************************************************************* */
-const Rot2& Pose2::rotation(OptionalJacobian<1, 3> Hself) const {
-  if (Hself) *Hself << 0, 0, 1;
-  return r_;
-}
-
 /* ************************************************************************* */
 Matrix3 Pose2::matrix() const {
   Matrix2 R = r_.matrix();
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index fa148b1c5..80418745e 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -258,10 +258,19 @@ public:
   inline const Rot2&   r() const { return rotation(); }
 
   /// translation
-  const Point2& translation(OptionalJacobian<2, 3> Hself={}) const;
+  inline const Point2& translation(OptionalJacobian<2, 3> Hself={}) const {
+    if (Hself) {
+      *Hself = Matrix::Zero(2, 3);
+      (*Hself).block<2, 2>(0, 0) = rotation().matrix();
+    }
+    return t_;
+  }
 
   /// rotation
-  const Rot2&   rotation(OptionalJacobian<1, 3> Hself={}) const;
+  inline const Rot2&   rotation(OptionalJacobian<1, 3> Hself={}) const {
+    if (Hself) *Hself << 0, 0, 1;
+    return r_;
+  }
 
   //// return transformation matrix
   GTSAM_EXPORT Matrix3 matrix() const;