From 45b2eef13f1c1bac6f7fb19938b895695ffe2e53 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 5 Mar 2010 03:02:23 +0000 Subject: [PATCH] Adjoint --- cpp/Pose2.h | 1 + 1 file changed, 1 insertion(+) diff --git a/cpp/Pose2.h b/cpp/Pose2.h index 11189dc9c..7708a11b9 100644 --- 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):