From c5b2c63c9d26479a3110529f55c70f9c2b02fb3f Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Sun, 7 Feb 2016 23:51:26 -0500 Subject: [PATCH 1/6] fix typo in test for Sim3 transform_from --- gtsam_unstable/geometry/tests/testSimilarity3.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 111d53d59..a1731cb88 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -249,10 +249,10 @@ TEST(Similarity3, GroupAction) { Point3 q(1, 2, 3); for (const auto T : { T1, T2, T3, T4, T5, T6 }) { Point3 q(1, 0, 0); - Matrix H1 = numericalDerivative21(f, T1, q); - Matrix H2 = numericalDerivative22(f, T1, q); + Matrix H1 = numericalDerivative21(f, T, q); + Matrix H2 = numericalDerivative22(f, T, q); Matrix actualH1, actualH2; - T1.transform_from(q, actualH1, actualH2); + T.transform_from(q, actualH1, actualH2); EXPECT(assert_equal(H1, actualH1)); EXPECT(assert_equal(H2, actualH2)); } From a056086ea4196b3b8013b2fd135a87cbe438680d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 7 Feb 2016 22:25:38 -0800 Subject: [PATCH 2/6] Fixed typos in derivative of action --- doc/math.lyx | 45 +++++++++++++++++++++++++++++---------------- doc/math.pdf | Bin 140339 -> 242875 bytes 2 files changed, 29 insertions(+), 16 deletions(-) diff --git a/doc/math.lyx b/doc/math.lyx index 5571532f6..88e243a01 100644 --- a/doc/math.lyx +++ b/doc/math.lyx @@ -1,5 +1,5 @@ -#LyX 2.0 created this file. For more info see http://www.lyx.org/ -\lyxformat 413 +#LyX 2.1 created this file. For more info see http://www.lyx.org/ +\lyxformat 474 \begin_document \begin_header \textclass article @@ -17,13 +17,13 @@ theorems-ams-bytype \font_roman times \font_sans default \font_typewriter default +\font_math auto \font_default_family rmdefault \use_non_tex_fonts false \font_sc false \font_osf false \font_sf_scale 100 \font_tt_scale 100 - \graphics default \default_output_format default \output_sync 0 @@ -34,15 +34,24 @@ theorems-ams-bytype \use_hyperref false \papersize default \use_geometry true -\use_amsmath 1 -\use_esint 0 -\use_mhchem 1 -\use_mathdots 1 +\use_package amsmath 1 +\use_package amssymb 1 +\use_package cancel 1 +\use_package esint 0 +\use_package mathdots 1 +\use_package mathtools 1 +\use_package mhchem 1 +\use_package stackrel 0 +\use_package stmaryrd 1 +\use_package undertilde 1 \cite_engine basic +\cite_engine_type default +\biblio_style plain \use_bibtopic false \use_indices false \paperorientation portrait \suppress_date false +\justification true \use_refstyle 0 \index Index \shortcut idx @@ -1603,11 +1612,7 @@ name "sec:Derivatives-of-Actions" \end_layout \begin_layout Standard -The (usual) action of an -\begin_inset Formula $n$ -\end_inset - --dimensional matrix group +The (usual) action of a matrix group \begin_inset Formula $G$ \end_inset @@ -1632,7 +1637,7 @@ Since this is a function defined on the product \end_inset the derivative is a linear transformation -\begin_inset Formula $Df:\Multi{2n}n$ +\begin_inset Formula $Df:\Multi{m+n}n$ \end_inset with @@ -1643,7 +1648,15 @@ Df_{(T,p)}\left(\xi,\delta p\right)=D_{1}f_{(T,p)}\left(\xi\right)+D_{2}f_{(T,p) \end_inset +where +\begin_inset Formula $m$ +\end_inset + is the dimensionality of the manifold +\begin_inset Formula $G$ +\end_inset + +. \end_layout \begin_layout Theorem @@ -1672,7 +1685,7 @@ H(p) & I_{n}\end{array}\right] \end_inset with -\begin_inset Formula $H:\Reals n\rightarrow\Reals{n\times n}$ +\begin_inset Formula $H:\Reals m\rightarrow\Reals{n\times m}$ 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