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Made it more clear that Rotation constructor takes columns.

release/4.3a0
Frank Dellaert 2014-01-03 15:56:45 -05:00
parent c394f9a601
commit f54861f851
3 changed files with 10 additions and 13 deletions
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7
gtsam/geometry/Rot3.h
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@ -79,12 +79,12 @@ namespace gtsam {
Rot3(); Rot3();
/** /**
* Constructor from columns * Constructor from *columns*
* @param r1 X-axis of rotated frame * @param r1 X-axis of rotated frame
* @param r2 Y-axis of rotated frame * @param r2 Y-axis of rotated frame
* @param r3 Z-axis of rotated frame * @param r3 Z-axis of rotated frame
*/ */
Rot3(const Point3& r1, const Point3& r2, const Point3& r3); Rot3(const Point3& col1, const Point3& col2, const Point3& col3);
/** constructor from a rotation matrix, as doubles in *row-major* order !!! */ /** constructor from a rotation matrix, as doubles in *row-major* order !!! */
Rot3(double R11, double R12, double R13, Rot3(double R11, double R12, double R13,
@ -97,9 +97,6 @@ namespace gtsam {
/** constructor from a rotation matrix */ /** constructor from a rotation matrix */
Rot3(const Matrix& R); Rot3(const Matrix& R);
// /** constructor from a fixed size rotation matrix */
// Rot3(const Matrix3& R);
/** Constructor from a quaternion. This can also be called using a plain /** Constructor from a quaternion. This can also be called using a plain
* Vector, due to implicit conversion from Vector to Quaternion * Vector, due to implicit conversion from Vector to Quaternion
* @param q The quaternion * @param q The quaternion

8
gtsam/geometry/Rot3M.cpp
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@ -36,10 +36,10 @@ static const Matrix3 I3 = Matrix3::Identity();
Rot3::Rot3() : rot_(Matrix3::Identity()) {} Rot3::Rot3() : rot_(Matrix3::Identity()) {}
/* ************************************************************************* */ /* ************************************************************************* */
Rot3::Rot3(const Point3& r1, const Point3& r2, const Point3& r3) { Rot3::Rot3(const Point3& col1, const Point3& col2, const Point3& col3) {
rot_.col(0) = r1.vector(); rot_.col(0) = col1.vector();
rot_.col(1) = r2.vector(); rot_.col(1) = col2.vector();
rot_.col(2) = r3.vector(); rot_.col(2) = col3.vector();
} }
/* ************************************************************************* */ /* ************************************************************************* */

8
gtsam/geometry/Rot3Q.cpp
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@ -32,11 +32,11 @@ namespace gtsam {
Rot3::Rot3() : quaternion_(Quaternion::Identity()) {} Rot3::Rot3() : quaternion_(Quaternion::Identity()) {}
/* ************************************************************************* */ /* ************************************************************************* */
Rot3::Rot3(const Point3& r1, const Point3& r2, const Point3& r3) : Rot3::Rot3(const Point3& col1, const Point3& col2, const Point3& col3) :
quaternion_((Eigen::Matrix3d() << quaternion_((Eigen::Matrix3d() <<
r1.x(), r2.x(), r3.x(), col1.x(), col2.x(), col3.x(),
r1.y(), r2.y(), r3.y(), col1.y(), col2.y(), col3.y(),
r1.z(), r2.z(), r3.z()).finished()) {} col1.z(), col2.z(), col3.z()).finished()) {}
/* ************************************************************************* */ /* ************************************************************************* */
Rot3::Rot3(double R11, double R12, double R13, Rot3::Rot3(double R11, double R12, double R13,