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Fixed typo in quaternion path

release/4.3a0
Frank Dellaert 2025-01-15 00:45:07 -05:00
parent 04e04eed52
commit d6581cdef9
2 changed files with 2 additions and 2 deletions
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2
gtsam/geometry/Pose3.cpp
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@ -189,7 +189,7 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi) {
// Compute rotation using Expmap
#ifdef GTSAM_USE_QUATERNIONS
const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
#else
const Rot3 R(local.expmap());
#endif

2
gtsam/navigation/NavState.cpp
View File

@ -123,7 +123,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> Hxi) {
// Compute rotation using Expmap
#ifdef GTSAM_USE_QUATERNIONS
const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
#else
const Rot3 R(local.expmap());
#endif