Adjoint
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@ -96,6 +96,7 @@ namespace gtsam {
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* Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
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* Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
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*/
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*/
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Matrix AdjointMap(const Pose2& p);
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Matrix AdjointMap(const Pose2& p);
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inline Vector Adjoint(const Pose2& p, const Vector& xi) { return AdjointMap(p)*xi;}
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/**
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/**
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* wedge for SE(2):
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* wedge for SE(2):
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