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Small refactor

release/4.3a0
dellaert 2015-07-19 23:39:44 -07:00
parent ee747604e7
commit a56c6e728b
1 changed files with 2 additions and 4 deletions
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6
gtsam/geometry/Rot3M.cpp
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@ -131,10 +131,8 @@ Matrix3 Rot3::transpose() const {
/* ************************************************************************* */ /* ************************************************************************* */
Point3 Rot3::rotate(const Point3& p, Point3 Rot3::rotate(const Point3& p,
OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
if (H1 || H2) { if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z());
if (H1) *H1 = rot_ * skewSymmetric(-p.x(), -p.y(), -p.z()); if (H2) *H2 = rot_;
if (H2) *H2 = rot_;
}
return Point3(rot_ * p.vector()); return Point3(rot_ * p.vector());
} }