Expression problem

[dellaert]

Address Brice's compile problems (reported in Google groups) by patching slam/expressions.h like so:

namespace internal {
Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) {
  return pose.rotation(H);
}
}  // namespace internal

inline Rot3_ rotation(const Pose3_& pose) { return Rot3_(internal::rotation, pose); }

TEST(SlamExpressions, rotation) {
  Pose3_ T_(0);
  const Rot3_ R_ = rotation(T_);
}

/* ************************************************************************* */
TEST(SlamExpressions, unrotate) {
  Rot3_ R_(0);
  Point3_ p_(1);
  const Point3_ q_ = unrotate(R_, p_);
}

[dellaert]

Brice, submit a PR with your solution?

[dellaert]

Fixed in PR #18