From 9d52deaf75d37cdd8aab1ee758a476b7318a470a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 11 Jun 2019 18:10:05 -0400 Subject: [PATCH] added inline keywords to new functions introduced in PR #32 --- gtsam/slam/expressions.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h index 17a8d849f..4294d17d1 100644 --- a/gtsam/slam/expressions.h +++ b/gtsam/slam/expressions.h @@ -42,7 +42,7 @@ inline Point3_ transformFrom(const Pose3_& x, const Point3_& p) { namespace internal { // define getter that returns value rather than reference -Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) { +inline Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) { return pose.rotation(H); } } // namespace internal @@ -70,12 +70,12 @@ inline Unit3_ unrotate(const Rot3_& x, const Unit3_& p) { #ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS namespace internal { // define a rotate and unrotate for Vector3 -Vector3 rotate(const Rot3& R, const Vector3& v, +inline Vector3 rotate(const Rot3& R, const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { return R.rotate(v, H1, H2); } -Vector3 unrotate(const Rot3& R, const Vector3& v, +inline Vector3 unrotate(const Rot3& R, const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none, OptionalJacobian<3, 3> H2 = boost::none) { return R.unrotate(v, H1, H2);