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optionaljacobian initialization with eigen mat

release/4.3a0
akrishnan86 2020-05-07 02:36:47 -04:00
parent fd0c0c626f
commit e9cd6ea238
1 changed files with 4 additions and 2 deletions
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6
gtsam/geometry/Line3.cpp
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@ -8,7 +8,8 @@ Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const {
w << v[0], v[1], 0; w << v[0], v[1], 0;
Rot3 eps; Rot3 eps;
if (H) { if (H) {
OptionalJacobian<3, 3> Dw; Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero();
OptionalJacobian<3, 3> Dw(Dw_mat);
Dw->setZero(); Dw->setZero();
eps = Rot3::Expmap(w, Dw); eps = Rot3::Expmap(w, Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
@ -25,7 +26,8 @@ Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const
Vector3 local_rot; Vector3 local_rot;
Vector4 local; Vector4 local;
if (H) { if (H) {
OptionalJacobian<3, 3> Dw; Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero();
OptionalJacobian<3, 3> Dw(Dw_mat);
Dw->setZero(); Dw->setZero();
local_rot = Rot3::Logmap(R_.inverse() * q.R_, Dw); local_rot = Rot3::Logmap(R_.inverse() * q.R_, Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);