small changes so that SLOW_BUT_CORRECT_EXPMAP compiles

borglab · Sep 17, 2010 · 14cb0be · 14cb0be
1 parent fdae3d6
commit 14cb0be
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/geometry/Pose2.cpp b/geometry/Pose2.cpp
@@ -39,7 +39,7 @@ namespace gtsam {
 
 #ifdef SLOW_BUT_CORRECT_EXPMAP
 
-	template<> Pose2 expmap(const Vector& xi) {
+	Pose2 Pose2::Expmap(const Vector& xi) {
 		Point2 v(xi(0),xi(1));
 		double w = xi(2);
 		if (fabs(w) < 1e-5)
@@ -52,7 +52,7 @@ namespace gtsam {
 		}
 	}
 
-  Vector logmap(const Pose2& p) {
+  Vector Pose2::Logmap(const Pose2& p) {
   	const Rot2& R = p.r();
   	const Point2& t = p.t();
 		double w = R.theta();

diff --git a/geometry/tests/testPose2.cpp b/geometry/tests/testPose2.cpp
@@ -105,7 +105,7 @@ TEST(Pose3, expmap_c)
 {
   EXPECT(assert_equal(screw::expected, expm<Pose2>(screw::xi),1e-6));
   EXPECT(assert_equal(screw::expected, Pose2::Expmap(screw::xi),1e-6));
-  EXPECT(assert_equal(screw::xi, logmap(screw::expected),1e-6));
+  EXPECT(assert_equal(screw::xi, Pose2::Logmap(screw::expected),1e-6));
 }
 #endif