12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Made CoordinatesMode enum name fully-qualified to avoid confusion with Pose3

release/4.3a0
Richard Roberts 2012-01-08 20:43:59 +00:00
parent 4f59f58cd1
commit 9055024032
3 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/geometry/Rot3.h
View File

@ -240,10 +240,10 @@ namespace gtsam {
size_t dim() const { return dimension; }
/// Retraction from R^3 to Pose2 manifold neighborhood around current pose
Rot3 retract(const Vector& omega, CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
Rot3 retract(const Vector& omega, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
/// Returns inverse retraction
Vector localCoordinates(const Rot3& t2, CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
Vector localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
/// @}
/// @name Lie Group

4
gtsam/geometry/Rot3M.cpp
View File

@ -246,7 +246,7 @@ Vector Rot3::Logmap(const Rot3& R) {
}
/* ************************************************************************* */
Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
if(mode == Rot3::FIRST_ORDER) {
const double x = omega(0), y = omega(1), z = omega(2);
const double x2 = x*x, y2 = y*y, z2 = z*z;
@ -269,7 +269,7 @@ Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
}
/* ************************************************************************* */
Vector Rot3::localCoordinates(const Rot3& T, CoordinatesMode mode) const {
Vector Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
if(mode == Rot3::FIRST_ORDER) {
// Create a fixed-size matrix
Eigen::Matrix3d A(between(T).matrix());

4
gtsam/geometry/Rot3Q.cpp
View File

@ -150,12 +150,12 @@ namespace gtsam {
}
/* ************************************************************************* */
Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
return compose(Expmap(omega));
}
/* ************************************************************************* */
Vector Rot3::localCoordinates(const Rot3& t2, CoordinatesMode mode) const {
Vector Rot3::localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode) const {
return Logmap(between(t2));
}