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Deal w new Rot3 operators

release/4.3a0
dellaert 2015-12-21 15:54:52 -08:00
parent 846a777491
commit e16d798bd4
2 changed files with 2 additions and 2 deletions
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2
gtsam_unstable/slam/Mechanization_bRn2.cpp
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@ -101,7 +101,7 @@ Mechanization_bRn2 Mechanization_bRn2::integrate(const Vector3& u,
// convert to navigation frame // convert to navigation frame
Rot3 nRb = bRn_.inverse(); Rot3 nRb = bRn_.inverse();
Vector3 n_omega_bn = (nRb*b_omega_bn).vector(); Vector3 n_omega_bn = nRb*b_omega_bn;
// integrate bRn using exponential map, assuming constant over dt // integrate bRn using exponential map, assuming constant over dt
Rot3 delta_nRn = Rot3::Rodrigues(n_omega_bn*dt); Rot3 delta_nRn = Rot3::Rodrigues(n_omega_bn*dt);

2
gtsam_unstable/slam/Mechanization_bRn2.h
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@ -42,7 +42,7 @@ public:
/// gravity in the body frame /// gravity in the body frame
Vector3 b_g(double g_e) const { Vector3 b_g(double g_e) const {
Vector3 n_g(0, 0, g_e); Vector3 n_g(0, 0, g_e);
return (bRn_ * n_g).vector(); return bRn_ * n_g;
} }
const Rot3& bRn() const {return bRn_; } const Rot3& bRn() const {return bRn_; }