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Merged in feature/testSphereSolution (pull request #6) 

Made Sphere2 constructor to be explicit + some changes in Rot3.
release/4.3a0
Frank Dellaert 2014-02-01 12:50:36 -05:00
parent b3a0802c93 5604414b40
commit c04eff465d
2 changed files with 3 additions and 3 deletions
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4
gtsam/geometry/Rot3.cpp
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@ -73,7 +73,7 @@ Point3 Rot3::operator*(const Point3& p) const {
/* ************************************************************************* */ /* ************************************************************************* */
Sphere2 Rot3::rotate(const Sphere2& p, Sphere2 Rot3::rotate(const Sphere2& p,
boost::optional<Matrix&> HR, boost::optional<Matrix&> Hp) const { boost::optional<Matrix&> HR, boost::optional<Matrix&> Hp) const {
Sphere2 q = rotate(p.point3(Hp)); Sphere2 q = Sphere2(rotate(p.point3(Hp)));
if (Hp) if (Hp)
(*Hp) = q.basis().transpose() * matrix() * (*Hp); (*Hp) = q.basis().transpose() * matrix() * (*Hp);
if (HR) if (HR)
@ -84,7 +84,7 @@ Sphere2 Rot3::rotate(const Sphere2& p,
/* ************************************************************************* */ /* ************************************************************************* */
Sphere2 Rot3::unrotate(const Sphere2& p, Sphere2 Rot3::unrotate(const Sphere2& p,
boost::optional<Matrix&> HR, boost::optional<Matrix&> Hp) const { boost::optional<Matrix&> HR, boost::optional<Matrix&> Hp) const {
Sphere2 q = unrotate(p.point3(Hp)); Sphere2 q = Sphere2(unrotate(p.point3(Hp)));
if (Hp) if (Hp)
(*Hp) = q.basis().transpose() * matrix().transpose () * (*Hp); (*Hp) = q.basis().transpose() * matrix().transpose () * (*Hp);
if (HR) if (HR)

2
gtsam/geometry/Sphere2.h
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@ -60,7 +60,7 @@ public:
} }
/// Construct from point /// Construct from point
Sphere2(const Point3& p) : explicit Sphere2(const Point3& p) :
p_(p / p.norm()) { p_(p / p.norm()) {
} }