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Fixed BCH compile issue

release/4.3a0
Frank 2016-02-08 17:31:57 -08:00
parent a19aa793d7
commit a86a3eee3e
1 changed files with 4 additions and 5 deletions
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9
gtsam/base/Lie.h
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@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -295,19 +295,18 @@ private:
}; };
/** /**
* Three term approximation of the Baker<EFBFBD>Campbell<EFBFBD>Hausdorff formula * Three term approximation of the Baker-Campbell-Hausdorff formula
* In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) * In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y)
* it is not true that Z = X+Y. Instead, Z can be calculated using the BCH * it is not true that Z = X+Y. Instead, Z can be calculated using the BCH
* formula: Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 * formula: Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24
* http://en.wikipedia.org/wiki/Baker<EFBFBD>Campbell<EFBFBD>Hausdorff_formula * http://en.wikipedia.org/wiki/Baker-Campbell-Hausdorff_formula
*/ */
/// AGC: bracket() only appears in Rot3 tests, should this be used elsewhere? /// AGC: bracket() only appears in Rot3 tests, should this be used elsewhere?
template<class T> template<class T>
T BCH(const T& X, const T& Y) { T BCH(const T& X, const T& Y) {
static const double _2 = 1. / 2., _12 = 1. / 12., _24 = 1. / 24.; static const double _2 = 1. / 2., _12 = 1. / 12., _24 = 1. / 24.;
T X_Y = bracket(X, Y); T X_Y = bracket(X, Y);
return X + Y + _2 * X_Y + _12 * bracket(X - Y, X_Y) - _24 * bracket(Y, return T(X + Y + _2 * X_Y + _12 * bracket(X - Y, X_Y) - _24 * bracket(Y, bracket(X, X_Y)));
bracket(X, X_Y));
} }
/** /**