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typo error in doc/math.pdf #1063

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huanglilong opened this issue Jan 25, 2022 · 3 comments
Closed

typo error in doc/math.pdf #1063

huanglilong opened this issue Jan 25, 2022 · 3 comments

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@huanglilong
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typo error in 5.3
Image from iOS (2)

@dellaert
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You know, you seem to be right. I can't remember how I got the minus one there! But, checking the code, this is what is in Lie.h:

  Class inverse(ChartJacobian H) const {
    if (H) *H = - derived().AdjointMap();
    return derived().inverse();
  }

and this unit tests correctly, say in testRot3.cpp.
I'm puzzled.

@dellaert
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OK, wait, the last line is correct, it's the second to last line that's wrong. Got it :-) Thanks!

@dellaert
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Closed with #1064

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