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SO3.cpp edited online with Bitbucket: KK not K*K

release/4.3a0
Frank Dellaert 2016-02-01 21:07:50 +00:00
parent b4edfc2576
commit e3954d541a
1 changed files with 1 additions and 1 deletions
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gtsam/geometry/SO3.cpp
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@ -63,7 +63,7 @@ SO3 ExpmapFunctor::expmap() const {
if (nearZero) if (nearZero)
return I_3x3 + W; return I_3x3 + W;
else else
return I_3x3 + sin_theta * K + one_minus_cos * K * K; return I_3x3 + sin_theta * K + one_minus_cos * KK;
} }
DexpFunctor::DexpFunctor(const Vector3& omega) DexpFunctor::DexpFunctor(const Vector3& omega)