gtsam

Author	SHA1	Message	Date
Richard Roberts	c4b60bfd65	Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.	2009-12-14 03:02:05 +00:00
Frank Dellaert	abc268a13d	quick cleanup - expmap comments	2009-12-11 14:22:35 +00:00
Frank Dellaert	7d4de3ec20	Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.	2009-12-09 21:50:27 +00:00