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Fixed rodriguez

release/4.3a0
dellaert 2015-02-10 22:26:11 +01:00
parent 30725a0647
commit 8f36e33566
1 changed files with 1 additions and 2 deletions
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3
gtsam/geometry/Rot3Q.cpp
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@ -85,8 +85,7 @@ namespace gtsam {
/* ************************************************************************* */
Rot3 Rot3::rodriguez(const Vector3& w, double theta) {
// TODO return QuaternionChart::Expmap(theta,w);
return Rot3();
return Quaternion(Eigen::AngleAxis<double>(theta, w));
}
/* ************************************************************************* */