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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/geometry/Unit3.cpp
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 // Return cached version if exists
if (B_.rows() == 3) if (B_.rows() == 3)

2
gtsam/geometry/Unit3.h
View File

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