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using binary logmap instead of Logmap(between())

release/4.3a0
Alex Cunningham 2010-10-01 19:59:25 +00:00
parent a48bf9499a
commit 8da9b660c0
1 changed files with 2 additions and 1 deletions
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3
slam/TransformConstraint.h
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@ -54,7 +54,8 @@ public:
Point dummy; Point dummy;
*Dlocal = -1* eye(dummy.dim()); *Dlocal = -1* eye(dummy.dim());
} }
return Point::Logmap(local.between(newlocal)); return local.logmap(newlocal);
// return Point::Logmap(local.between(newlocal));
} }
}; };
} // \namespace gtsam } // \namespace gtsam