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Removed obsolete code

release/4.3a0
dellaert 2015-02-10 22:26:58 +01:00
parent 47ad4c13f7
commit c1d5b652cc
1 changed files with 0 additions and 35 deletions
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35
gtsam/geometry/Rot3Q.cpp
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@ -87,26 +87,11 @@ namespace gtsam {
Rot3 Rot3::rodriguez(const Vector3& w, double theta) { Rot3 Rot3::rodriguez(const Vector3& w, double theta) {
return Quaternion(Eigen::AngleAxis<double>(theta, w)); return Quaternion(Eigen::AngleAxis<double>(theta, w));
} }
/* ************************************************************************* */
// Rot3 Rot3::compose(const Rot3& R2,
// OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
// if (H1) *H1 = R2.transpose();
// if (H2) *H2 = I3;
// return Rot3(quaternion_ * R2.quaternion_);
// }
/* ************************************************************************* */ /* ************************************************************************* */
Rot3 Rot3::operator*(const Rot3& R2) const { Rot3 Rot3::operator*(const Rot3& R2) const {
return Rot3(quaternion_ * R2.quaternion_); return Rot3(quaternion_ * R2.quaternion_);
} }
/* ************************************************************************* */
// Rot3 Rot3::inverse(OptionalJacobian<3,3> H1) const {
// if (H1) *H1 = -matrix();
// return Rot3(quaternion_.inverse());
// }
/* ************************************************************************* */ /* ************************************************************************* */
// TODO: Could we do this? It works in Rot3M but not here, probably because // TODO: Could we do this? It works in Rot3M but not here, probably because
// here we create an intermediate value by calling matrix() // here we create an intermediate value by calling matrix()
@ -115,14 +100,6 @@ namespace gtsam {
return matrix().transpose(); return matrix().transpose();
} }
/* ************************************************************************* */
// Rot3 Rot3::between(const Rot3& R2,
// OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
// if (H1) *H1 = -(R2.transpose()*matrix());
// if (H2) *H2 = I3;
// return inverse() * R2;
// }
/* ************************************************************************* */ /* ************************************************************************* */
Point3 Rot3::rotate(const Point3& p, Point3 Rot3::rotate(const Point3& p,
OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const { OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
@ -135,9 +112,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) { Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) {
// if(H) *H = Rot3::LogmapDerivative(thetaR);
return traits<Quaternion>::Logmap(R.quaternion_, H); return traits<Quaternion>::Logmap(R.quaternion_, H);
return Vector3(0,0,0);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -154,16 +129,6 @@ namespace gtsam {
else throw std::runtime_error("Rot3::Local: unknown mode"); else throw std::runtime_error("Rot3::Local: unknown mode");
} }
/* ************************************************************************* */
// Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
// return compose(Expmap(omega));
// }
/* ************************************************************************* */
// Vector3 Rot3::localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode) const {
// return Logmap(between(t2));
// }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();} Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();}