Return pointer to cached basis

release/4.3a0
dellaert 2014-07-01 11:21:43 -04:00
parent 87ba9384e0
commit d6ffef89e6
2 changed files with 2 additions and 2 deletions

View File

@ -58,7 +58,7 @@ Unit3 Unit3::Random(boost::mt19937 & rng) {
}
/* ************************************************************************* */
Matrix Unit3::basis() const {
const Matrix& Unit3::basis() const {
// Return cached version if exists
if (B_.rows() == 3)

View File

@ -84,7 +84,7 @@ public:
* It is a 3*2 matrix [b1 b2] composed of two orthogonal directions
* tangent to the sphere at the current direction.
*/
Matrix basis() const;
const Matrix& basis() const;
/// Return skew-symmetric associated with 3D point on unit sphere
Matrix skew() const;