From 8242fdadb4004540067037b10c05723395c3c108 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 10 Jan 2012 05:04:49 +0000 Subject: [PATCH] Fixed comment --- gtsam/geometry/Rot3.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index e45838a43..6d4817843 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -251,10 +251,10 @@ namespace gtsam { #endif }; - /// Retraction from R^3 to Pose2 manifold neighborhood around current pose + /// Retraction from R^3 to Rot3 manifold neighborhood around current rotation Rot3 retract(const Vector& omega, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const; - /// Returns inverse retraction + /// Returns local retract coordinates in neighborhood around current rotation Vector localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const; /// @}