using binary logmap instead of Logmap(between())

2010-10-01 19:59:25 +00:00 · 2010-10-01 19:59:25 +00:00 · 8da9b660c0
parent a48bf9499a
commit 8da9b660c0
1 changed files with 2 additions and 1 deletions
--- 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