Add a comment for transformFrom pose.
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				|  | @ -105,7 +105,16 @@ public: | |||
|       OptionalJacobian<3, 7> H1 = boost::none, //
 | ||||
|       OptionalJacobian<3, 3> H2 = boost::none) const; | ||||
| 
 | ||||
|   /// Action on a pose T, R = R*T.R, t = s(R*T.t+t)
 | ||||
|   /** 
 | ||||
|    * Action on a pose T. | ||||
|    * |Rs  ts|   |R t|   |Rs*R Rs*t+ts|  | ||||
|    * |0  1/s| * |0 1| = | 0      1/s |, the result is still a Sim3 object. | ||||
|    * To retrieve a Pose3, we normalized the scale value into 1. | ||||
|    * |Rs*R Rs*t+ts|   |Rs*R s(Rs*t+ts)| | ||||
|    * | 0      1/s | = |  0       1    | | ||||
|    *  | ||||
|    * This group action satisfies the compatibility condition. | ||||
|    */ | ||||
|   GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; | ||||
| 
 | ||||
|   /** syntactic sugar for transformFrom */ | ||||
|  |  | |||
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