Merge pull request #814 from borglab/fix/misc

borglab · Jul 9, 2021 · 4fc6859 · 4fc6859
2 parents cd3854a + d7d9ac0
commit 4fc6859
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
@@ -142,7 +142,7 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
   static Vector6 Logmap(const Pose3& pose, OptionalJacobian<6, 6> Hpose = boost::none);
 
   /**
-   * Calculate Adjoint map, transforming a twist in the this pose's (i.e, body) frame to the world spatial frame
+   * Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame
    * Ad_pose is 6*6 matrix that when applied to twist xi \f$ [R_x,R_y,R_z,T_x,T_y,T_z] \f$, returns Ad_pose(xi)
    */
   Matrix6 AdjointMap() const; /// FIXME Not tested - marked as incorrect

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -690,6 +690,7 @@ class Pose3 {
   // Lie Group
   static gtsam::Pose3 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose3& pose);
+  gtsam::Pose3 expmap(Vector v);
   Vector logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;