From 8da9b660c0eb6de1a0b9e0a9d38dbb3af7ae4de6 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 1 Oct 2010 19:59:25 +0000 Subject: [PATCH] using binary logmap instead of Logmap(between()) --- slam/TransformConstraint.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/slam/TransformConstraint.h b/slam/TransformConstraint.h index 101fef5e4..af341b75b 100644 --- a/slam/TransformConstraint.h +++ b/slam/TransformConstraint.h @@ -54,7 +54,8 @@ public: Point dummy; *Dlocal = -1* eye(dummy.dim()); } - return Point::Logmap(local.between(newlocal)); + return local.logmap(newlocal); +// return Point::Logmap(local.between(newlocal)); } }; } // \namespace gtsam