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Comments only - broken parts in Pose3 correct expmap

release/4.3a0
Alex Cunningham 2011-11-26 22:28:45 +00:00
parent 57cfb0f717
commit cc858224aa
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/Pose3.cpp
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@ -188,7 +188,7 @@ namespace gtsam {
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
if (H1) { if (H1) {
#ifdef CORRECT_POSE3_EXMAP #ifdef CORRECT_POSE3_EXMAP
*H1 = AdjointMap(inverse(p2)); *H1 = AdjointMap(inverse(p2)); // FIXME: this function doesn't exist with this interface
#else #else
const Rot3& R2 = p2.rotation(); const Rot3& R2 = p2.rotation();
const Point3& t2 = p2.translation(); const Point3& t2 = p2.translation();
@ -216,7 +216,7 @@ namespace gtsam {
Pose3 Pose3::inverse(boost::optional<Matrix&> H1) const { Pose3 Pose3::inverse(boost::optional<Matrix&> H1) const {
if (H1) if (H1)
#ifdef CORRECT_POSE3_EXMAP #ifdef CORRECT_POSE3_EXMAP
{ *H1 = - AdjointMap(p); } { *H1 = - AdjointMap(p); } // FIXME: this function doesn't exist with this interface - should this be "*H1 = -AdjointMap();" ?
#else #else
{ {
Matrix Rt = R_.transpose(); Matrix Rt = R_.transpose();