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Update geometry.i

release/4.3a0
Akshay Krishnan 2022-10-05 16:37:51 -04:00 committed by GitHub
parent 77664288cf
commit e2f8ad8962
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1 changed files with 5 additions and 1 deletions
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6
gtsam/geometry/geometry.i
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@ -329,7 +329,7 @@ class Rot3 {
// Operator Overloads // Operator Overloads
gtsam::Rot3 operator*(const gtsam::Rot3& p2) const; gtsam::Rot3 operator*(const gtsam::Rot3& p2) const;
gtsam::Rot3 operator*(const gtsam::Unit3& p) const; gtsam::Unit3 operator*(const gtsam::Unit3& p) const;
// Manifold // Manifold
// gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both // gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both
@ -341,6 +341,10 @@ class Rot3 {
gtsam::Point3 rotate(const gtsam::Point3& p) const; gtsam::Point3 rotate(const gtsam::Point3& p) const;
gtsam::Point3 unrotate(const gtsam::Point3& p) const; gtsam::Point3 unrotate(const gtsam::Point3& p) const;
// Group action on Unit3
gtsam::Unit3 rotate(const gtsam::Unit3& p) const;
gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
// Standard Interface // Standard Interface
static gtsam::Rot3 Expmap(Vector v); static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p); static Vector Logmap(const gtsam::Rot3& p);