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remove const from return types for Rot3

release/4.3a0
Varun Agrawal 2020-03-20 17:50:34 -04:00
parent e90530d70b
commit b058adc675
3 changed files with 6 additions and 6 deletions
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4
gtsam/geometry/Rot3.h
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@ -407,12 +407,12 @@ namespace gtsam {
/// @{ /// @{
/** return 3*3 rotation matrix */ /** return 3*3 rotation matrix */
const Matrix3 matrix() const; Matrix3 matrix() const;
/** /**
* Return 3*3 transpose (inverse) rotation matrix * Return 3*3 transpose (inverse) rotation matrix
*/ */
const Matrix3 transpose() const; Matrix3 transpose() const;
/// @deprecated, this is base 1, and was just confusing /// @deprecated, this is base 1, and was just confusing
Point3 column(int index) const; Point3 column(int index) const;

4
gtsam/geometry/Rot3M.cpp
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@ -110,7 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
const Matrix3 Rot3::transpose() const { Matrix3 Rot3::transpose() const {
return rot_.matrix().transpose(); return rot_.matrix().transpose();
} }
@ -175,7 +175,7 @@ Vector3 Rot3::ChartAtOrigin::Local(const Rot3& R, ChartJacobian H) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
const Matrix3 Rot3::matrix() const { Matrix3 Rot3::matrix() const {
return rot_.matrix(); return rot_.matrix();
} }

4
gtsam/geometry/Rot3Q.cpp
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@ -86,7 +86,7 @@ namespace gtsam {
// and if we use quaternion_.toRotationMatrix(), the matrix is arbitrary. // and if we use quaternion_.toRotationMatrix(), the matrix is arbitrary.
// Using eval() here doesn't help, it only helps if we use it in // Using eval() here doesn't help, it only helps if we use it in
// the downstream code. // the downstream code.
const Matrix3 Rot3::transpose() const { Matrix3 Rot3::transpose() const {
return matrix().transpose(); return matrix().transpose();
} }
@ -120,7 +120,7 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
const Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();}
/* ************************************************************************* */ /* ************************************************************************* */
Point3 Rot3::r1() const { return Point3(quaternion_.toRotationMatrix().col(0)); } Point3 Rot3::r1() const { return Point3(quaternion_.toRotationMatrix().col(0)); }