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release/4.3a0
thduynguyen 2014-10-17 13:30:32 -04:00
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gtsam/geometry/Pose3.h
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@ -208,6 +208,7 @@ public:
* and in [Hairer06book] in formula (4.5), pg. 84, Lemma 4.2 * and in [Hairer06book] in formula (4.5), pg. 84, Lemma 4.2
* Ernst Hairer, et al., Geometric Numerical Integration, * Ernst Hairer, et al., Geometric Numerical Integration,
* Structure-Preserving Algorithms for Ordinary Differential Equations, 2nd edition, Springer-Verlag, 2006. * 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); static Matrix6 dExpInv_exp(const Vector& xi);