Add a comment for transformFrom pose.

release/4.3a0
alexma3312 2020-08-21 21:09:36 -04:00
parent e00fa5605a
commit a9dd3ed3c7
1 changed files with 10 additions and 1 deletions

View File

@ -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 */