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Added default constructor

release/4.3a0
Frank Dellaert 2013-12-22 15:25:34 -05:00
parent a2c982328d
commit bea9eb0bd2
1 changed files with 5 additions and 0 deletions
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5
gtsam/geometry/EssentialMatrix.h
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@ -38,6 +38,11 @@ public:
/// @name Constructors and named constructors /// @name Constructors and named constructors
/// @{ /// @{
/// Default constructor
EssentialMatrix() :
aTb_(1, 0, 0), E_(aTb_.skew()) {
}
/// Construct from rotation and translation /// Construct from rotation and translation
EssentialMatrix(const Rot3& aRb, const Sphere2& aTb) : EssentialMatrix(const Rot3& aRb, const Sphere2& aTb) :
aRb_(aRb), aTb_(aTb), E_(aTb_.skew() * aRb_.matrix()) { aRb_(aRb), aTb_(aTb), E_(aTb_.skew() * aRb_.matrix()) {