From 5c0db681527ef8b939f9a0c1b3aea0f04107e2b1 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 25 Dec 2014 18:16:47 +0100 Subject: [PATCH] Fixed compile error from develop --- gtsam_unstable/dynamics/SimpleHelicopter.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h index b1c254a9e..b4f474467 100644 --- a/gtsam_unstable/dynamics/SimpleHelicopter.h +++ b/gtsam_unstable/dynamics/SimpleHelicopter.h @@ -60,7 +60,7 @@ public: } if (H3) { - Matrix D_exphxi_xi = Pose3::dExpInv_exp(h_*xik)*h_; + Matrix D_exphxi_xi = Pose3::LogmapDerivative(h_*xik)*h_; Matrix D_hx_xi = D_hx_gkxi * D_gkxi_exphxi * D_exphxi_xi; *H3 = D_hx_xi; }