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Merge pull request #60 from borglab/feature/inline-navigation-expressions 

Inline keyword for navigation expression functions
release/4.3a0
Frank Dellaert 2019-06-11 19:44:26 -04:00 committed by GitHub
parent 4e19ba4488 9d52deaf75
commit 8e13655fc8
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/expressions.h
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@ -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);