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Fixed compiler warnings

release/4.3a0
Richard Roberts 2010-07-10 20:58:32 +00:00
parent d4b8c84996
commit 92d705e25b
1 changed files with 3 additions and 3 deletions
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6
cpp/Rot3.cpp
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@ -115,16 +115,16 @@ namespace gtsam {
// Log map at identity - return the canonical coordinates of this rotation
inline Vector logmap(const Rot3& R) {
double tr = R.r1().x()+R.r2().y()+R.r3().z();
if (fabs(tr-3.0) < 1e-10) // when theta = 0, +-2pi, +-4pi, etc.
if (fabs(tr-3.0) < 1e-10) { // when theta = 0, +-2pi, +-4pi, etc.
return zero(3);
else if (tr==-1.0) { // when theta = +-pi, +-3pi, +-5pi, etc.
} else if (tr==-1.0) { // when theta = +-pi, +-3pi, +-5pi, etc.
if(R.r3().z() != -1.0)
return (boost::math::constants::pi<double>() / sqrt(2.0+2.0*R.r3().z())) *
Vector_(3, R.r3().x(), R.r3().y(), 1.0+R.r3().z());
else if(R.r2().y() != -1.0)
return (boost::math::constants::pi<double>() / sqrt(2.0+2.0*R.r2().y())) *
Vector_(3, R.r2().x(), 1.0+R.r2().y(), R.r2().z());
else if(R.r1().x() != -1.0)
else // if(R.r1().x() != -1.0) TODO: fix this?
return (boost::math::constants::pi<double>() / sqrt(2.0+2.0*R.r1().x())) *
Vector_(3, 1.0+R.r1().x(), R.r1().y(), R.r1().z());
} else {