From 84987aa35169d44c350daf4c1c756bb85fc63513 Mon Sep 17 00:00:00 2001 From: dellaert Date: Tue, 7 Oct 2014 19:35:20 +0200 Subject: [PATCH] Deal with Rot3 changes --- gtsam/navigation/MagFactor.h | 4 ++-- gtsam_unstable/dynamics/SimpleHelicopter.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/MagFactor.h b/gtsam/navigation/MagFactor.h index 44f543bc9..bcd33a095 100644 --- a/gtsam/navigation/MagFactor.h +++ b/gtsam/navigation/MagFactor.h @@ -53,7 +53,7 @@ public: static Point3 unrotate(const Rot2& R, const Point3& p, boost::optional HR = boost::none) { - Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR); + Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR, boost::none); if (HR) { // assign to temporary first to avoid error in Win-Debug mode Matrix H = HR->col(2); @@ -106,7 +106,7 @@ public: Vector evaluateError(const Rot3& nRb, boost::optional H = boost::none) const { // measured bM = nRbÕ * nM + b - Point3 hx = nRb.unrotate(nM_, H) + bias_; + Point3 hx = nRb.unrotate(nM_, H, boost::none) + bias_; return (hx - measured_).vector(); } }; diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h index ebc430277..52dcea2db 100644 --- a/gtsam_unstable/dynamics/SimpleHelicopter.h +++ b/gtsam_unstable/dynamics/SimpleHelicopter.h @@ -125,7 +125,7 @@ public: Vector pk_1 = muk_1 - 0.5*Pose3::adjointTranspose(-h_*xik_1, muk_1, D_adjThxik1_muk1); Matrix D_gravityBody_gk; - Point3 gravityBody = gk.rotation().unrotate(Point3(0.0, 0.0, -9.81*m_), D_gravityBody_gk); + Point3 gravityBody = gk.rotation().unrotate(Point3(0.0, 0.0, -9.81*m_), D_gravityBody_gk, boost::none); Vector f_ext = (Vector(6) << 0.0, 0.0, 0.0, gravityBody.x(), gravityBody.y(), gravityBody.z()); Vector hx = pk - pk_1 - h_*Fu_ - h_*f_ext;