small comment

2014-10-17 13:30:32 -04:00 · 2014-10-17 13:30:32 -04:00 · 8722c9cf68
parent 78d9a8cab8
commit 8722c9cf68
1 changed files with 1 additions and 0 deletions
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@ -208,6 +208,7 @@ public:
     * and in [Hairer06book] in formula (4.5), pg. 84, Lemma 4.2
     *    Ernst Hairer, et al., Geometric Numerical Integration,
     *      Structure-Preserving Algorithms for Ordinary Differential Equations, 2nd edition, Springer-Verlag, 2006.
+   * See also Iserles05an, pg. 33, formula 2.46
     */
    static Matrix6 dExpInv_exp(const Vector&  xi);