From 9e421c407bac3307ed8d552f01352fa7a3a23211 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 12 Nov 2020 18:17:16 -0500 Subject: [PATCH] small doc fix --- gtsam/geometry/Rot3M.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp index 67b774a74..07cc7302a 100644 --- a/gtsam/geometry/Rot3M.cpp +++ b/gtsam/geometry/Rot3M.cpp @@ -185,7 +185,7 @@ Vector3 Rot3::CayleyChart::Local(const Rot3& R, OptionalJacobian<3,3> H) { // Mathematica closed form optimization. // The following are the essential computations for the following algorithm // 1. Compute the inverse of P = (A+I), using a closed-form formula since P is 3x3 - // 2. Compute the Cayley transform C = P^{-1} * (A-I) + // 2. Compute the Cayley transform C = 2 * P^{-1} * (A-I) // 3. C is skew-symmetric, so we pick out the computations corresponding only to x, y, and z. const double a = A(0, 0), b = A(0, 1), c = A(0, 2); const double d = A(1, 0), e = A(1, 1), f = A(1, 2);