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AdjointMap method

release/4.3a0
Varun Agrawal 2022-04-30 08:52:19 -04:00
parent 7a56473d8f
commit b8b52cb719
2 changed files with 7 additions and 0 deletions
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4
gtsam/geometry/Similarity2.cpp
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@ -222,6 +222,10 @@ Similarity2 Similarity2::Expmap(const Vector4& v, //
return Similarity2(R, t, s); return Similarity2(R, t, s);
} }
Matrix4 Similarity2::AdjointMap() const {
throw std::runtime_error("Similarity2::AdjointMap not implemented");
}
std::ostream& operator<<(std::ostream& os, const Similarity2& p) { std::ostream& operator<<(std::ostream& os, const Similarity2& p) {
os << "[" << p.rotation().theta() << " " << p.translation().transpose() << " " os << "[" << p.rotation().theta() << " " << p.translation().transpose() << " "
<< p.scale() << "]\';"; << p.scale() << "]\';";

3
gtsam/geometry/Similarity2.h
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@ -161,6 +161,9 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
} }
}; };
/// Project from one tangent space to another
Matrix4 AdjointMap() const;
using LieGroup<Similarity2, 4>::inverse; using LieGroup<Similarity2, 4>::inverse;
/// @} /// @}