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Added missing header and reverted debugging change from quaternion merge

release/4.3a0
Richard Roberts 2011-11-09 03:33:13 +00:00
parent 716c5175ab
commit 711535e818
2 changed files with 3 additions and 2 deletions
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1
gtsam/geometry/Makefile.am
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@ -15,6 +15,7 @@ headers += concepts.h
# Points and poses
sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3M.cpp Rot3Q.cpp Pose3.cpp
headers += Rot3.h
check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3M tests/testRot3Q tests/testPose3
# Cameras

2
gtsam/geometry/Rot3M.cpp
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@ -170,7 +170,7 @@ namespace gtsam {
R.r2().z()-R.r3().y(),
R.r3().x()-R.r1().z(),
R.r1().y()-R.r2().x());
} else if (fabs(tr) - -1.0 < 1e-10) { // when theta = +-pi, +-3pi, +-5pi, etc.
} else if (fabs(tr - -1.0) < 1e-10) { // when theta = +-pi, +-3pi, +-5pi, etc.
if(fabs(R.r3().z() - -1.0) > 1e-10)
return (boost::math::constants::pi<double>() / sqrt(2.0+2.0*R.r3().z())) *
Vector_(3, R.r3().x(), R.r3().y(), 1.0+R.r3().z());