12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

small notation change

release/4.3a0
Frank Dellaert 2013-03-06 17:23:56 +00:00
parent eacbaeb84d
commit c570411cd8
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
doc/LieGroups.lyx
View File

@ -2046,7 +2046,7 @@ The adjoint is
\begin_inset Formula \begin_inset Formula
\begin{eqnarray} \begin{eqnarray}
\Ad T{\xihat} & = & T\xihat T^{-1}\nonumber \\ \Ad T{\xihat} & = & T\xihat T^{-1}\nonumber \\
& = & \left[\begin{array}{cc} & = & =\left[\begin{array}{cc}
R & t\\ R & t\\
0 & 1 0 & 1
\end{array}\right]\left[\begin{array}{cc} \end{array}\right]\left[\begin{array}{cc}
@ -2061,7 +2061,7 @@ R^{T} & -R^{T}t\\
0 & 0 0 & 0
\end{array}\right]\nonumber \\ \end{array}\right]\nonumber \\
& = & \left[\begin{array}{cc} & = & \left[\begin{array}{cc}
\skew{\omega} & Rv-\omega R_{\pi/2}t\\ \skew{\omega} & Rv-t^{\perp}\omega\\
0 & 0 0 & 0
\end{array}\right]\label{eq:adjointSE2} \end{array}\right]\label{eq:adjointSE2}
\end{eqnarray} \end{eqnarray}
@ -2075,7 +2075,7 @@ From this we can express the Adjoint map in terms of plane twist coordinates:
v'\\ v'\\
\omega' \omega'
\end{array}\right]=\left[\begin{array}{cc} \end{array}\right]=\left[\begin{array}{cc}
R & -R_{\pi/2}t\\ R & -t^{\perp}\\
0 & 1 0 & 1
\end{array}\right]\left[\begin{array}{c} \end{array}\right]\left[\begin{array}{c}
v\\ v\\