12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

as @cbeall3 pointed out, Matrix(3,3) is still a dynamic Matrix. so changed this to Matrix3

release/4.3a0
nsrinivasan7 2014-11-29 19:36:43 -05:00
parent 7216417017
commit 85032364f1
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/geometry/Pose2.cpp
View File

@ -110,11 +110,12 @@ Vector Pose2::localCoordinates(const Pose2& p2) const {
// Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi) // Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
Matrix3 Pose2::AdjointMap() const { Matrix3 Pose2::AdjointMap() const {
double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y(); double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y();
return (Matrix(3,3) << Matrix3 rvalue;
rvalue <<
c, -s, y, c, -s, y,
s, c, -x, s, c, -x,
0.0, 0.0, 1.0 0.0, 0.0, 1.0;
).finished(); return rvalue;
} }
/* ************************************************************************* */ /* ************************************************************************* */