Adjoint

2010-03-05 03:02:23 +00:00 · 2010-03-05 03:02:23 +00:00 · 45b2eef13f
parent abf7758374
commit 45b2eef13f
1 changed files with 1 additions and 0 deletions
--- a/cpp/Pose2.h
+++ b/cpp/Pose2.h
@ -96,6 +96,7 @@ namespace gtsam {
  * Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
  */
  Matrix AdjointMap(const Pose2& p);
+  inline Vector Adjoint(const Pose2& p, const Vector& xi) { return AdjointMap(p)*xi;}

  /**
   * wedge for SE(2):