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fix a small but important error in dexpInvL comment

release/4.3a0
Duy-Nguyen Ta 2013-10-23 21:17:51 +00:00
parent 11edeca3e3
commit 8be72d2417
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/Rot3M.cpp
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@ -322,7 +322,7 @@ Matrix3 Rot3::dexpL(const Vector3& v) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
/// Follow Iserles05an, B10, pg 147, with a sign change in the second term (left version) /// Follow Iserles05an, B11, pg 147, with a sign change in the second term (left version)
Matrix3 Rot3::dexpInvL(const Vector3& v) { Matrix3 Rot3::dexpInvL(const Vector3& v) {
if(zero(v)) return eye(3); if(zero(v)) return eye(3);
Matrix x = skewSymmetric(v); Matrix x = skewSymmetric(v);