From d74e00ab2ae33c86413fe8194d59ffd004b2b59c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 23 Dec 2015 12:12:43 -0800 Subject: [PATCH] compilation issue --- gtsam/navigation/Scenario.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/Scenario.h b/gtsam/navigation/Scenario.h index 7badd6d4e..3324abaab 100644 --- a/gtsam/navigation/Scenario.h +++ b/gtsam/navigation/Scenario.h @@ -57,7 +57,9 @@ class ExpmapScenario : public Scenario { Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); } Rot3 rotation(double t) const { return Rot3::Expmap(twist_.head<3>() * t); } Vector3 omega_b(double t) const { return twist_.head<3>(); } - Vector3 velocity_n(double t) const { return rotation(t) * twist_.tail<3>(); } + Vector3 velocity_n(double t) const { + return rotation(t).matrix() * twist_.tail<3>(); + } Vector3 acceleration_n(double t) const { return rotation(t) * a_b_; } private: