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Re-use memory

release/4.3a0
Frank Dellaert 2010-02-28 09:09:37 +00:00
parent 85784400c6
commit 98aa08bcd0
1 changed files with 4 additions and 3 deletions
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7
cpp/Rot3.cpp
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@ -16,6 +16,8 @@ namespace gtsam {
/** Explicit instantiation of base class to export members */ /** Explicit instantiation of base class to export members */
INSTANTIATE_LIE(Rot3); INSTANTIATE_LIE(Rot3);
static const Matrix I3 = eye(3);
/* ************************************************************************* */ /* ************************************************************************* */
// static member functions to construct rotations // static member functions to construct rotations
@ -134,7 +136,6 @@ namespace gtsam {
} }
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot3 rodriguez(const Vector& n, double t) { Rot3 rodriguez(const Vector& n, double t) {
double n0 = n(0), n1=n(1), n2=n(2); double n0 = n(0), n1=n(1), n2=n(2);
@ -208,7 +209,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Dcompose2(const Rot3& R1, const Rot3& R2){ Matrix Dcompose2(const Rot3& R1, const Rot3& R2){
return eye(3); return I3;
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -218,7 +219,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Dbetween2(const Rot3& R1, const Rot3& R2){ Matrix Dbetween2(const Rot3& R1, const Rot3& R2){
return eye(3); return I3;
} }
/* ************************************************************************* */ /* ************************************************************************* */