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release/4.3a0
Alex Cunningham 2012-09-03 00:50:24 +00:00
parent 2285b14c5f
commit 891fb2e038
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/PoseRotationPrior.h
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@ -67,9 +67,9 @@ public:
if (H) { if (H) {
*H = gtsam::zeros(rDim, xDim); *H = gtsam::zeros(rDim, xDim);
if (pose_traits::isRotFirst<Pose>()) if (pose_traits::isRotFirst<Pose>())
(*H).leftCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); // FIXME: avoiding use of assign with eye() (*H).leftCols(rDim).setIdentity(rDim, rDim);
else else
(*H).rightCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); (*H).rightCols(rDim).setIdentity(rDim, rDim);
} }
return Rotation::Logmap(newR) - Rotation::Logmap(measured_); return Rotation::Logmap(newR) - Rotation::Logmap(measured_);