From b0fb28f08715aa5a102f1dd3153c6d4038dc4af8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 15 Apr 2025 09:44:09 -0400
Subject: [PATCH] Expmap to .cpp file

---
 gtsam/geometry/Rot3.h    | 13 +++----------
 gtsam/geometry/Rot3M.cpp |  6 +++++-
 gtsam/geometry/Rot3Q.cpp |  6 ++++++
 3 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index bbdb27818..23d067c70 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -374,20 +374,13 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     using LieAlgebra = Matrix3;
 
     /**
-     * Exponential map at identity - create a rotation from canonical coordinates
+     * Exponential map - create a rotation from canonical coordinates
      * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula
      */
-    static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = {}) {
-      if(H) *H = Rot3::ExpmapDerivative(v);
-#ifdef GTSAM_USE_QUATERNIONS
-      return traits<gtsam::Quaternion>::Expmap(v);
-#else
-      return Rot3(traits<SO3>::Expmap(v));
-#endif
-    }
+    static Rot3 Expmap(const Vector3& v, OptionalJacobian<3,3> H = {});
 
     /**
-     * Log map at identity - returns the canonical coordinates
+     * Log map - returns the canonical coordinates
      * \f$ [R_x,R_y,R_z] \f$ of this rotation
      */
     static Vector3 Logmap(const Rot3& R, OptionalJacobian<3,3> H = {});
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 45e04dab6..df9217767 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -153,7 +153,11 @@ Point3 Rot3::rotate(const Point3& p,
 }
 
 /* ************************************************************************* */
-// Log map at identity - return the canonical coordinates of this rotation
+Rot3 Rot3::Expmap(const Vector3& v, OptionalJacobian<3,3> H) {
+  return Rot3(SO3::Expmap(v, H));
+}
+      
+/* ************************************************************************* */
 Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3,3> H) {
   return SO3::Logmap(R.rot_,H);
 }
diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index 3e50551d5..2e5b4673a 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -116,6 +116,12 @@ namespace gtsam {
     return Point3(r.x(), r.y(), r.z());
   }
 
+  /* ************************************************************************* */
+  Rot3 Rot3::Expmap(const Vector3& v, OptionalJacobian<3,3> H) {
+    if(H) *H = Rot3::ExpmapDerivative(v);
+    return traits<gtsam::Quaternion>::Expmap(v);
+  }
+
   /* ************************************************************************* */
   Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) {
     return traits<gtsam::Quaternion>::Logmap(R.quaternion_, H);