Small comment on exmap correctness

2009-10-06 18:02:33 +00:00 · 2009-10-06 18:02:33 +00:00 · 34c1bb6f29
parent 7e77ae5f53
commit 34c1bb6f29
1 changed files with 1 additions and 0 deletions
--- a/cpp/Pose3.cpp
+++ b/cpp/Pose3.cpp
@ -10,6 +10,7 @@ using namespace std;
 namespace gtsam {

 /* ************************************************************************* */
+// Agrawal06iros, formula (6), seems to suggest this could be wrong:
 Pose3 Pose3::exmap(const Vector& v) const { 
  return Pose3(R_.exmap(sub(v,0,3)), t_.exmap(sub(v,3,6)));
 }