From 4dff3ea2c4f433890d17e6bc221309e67816183b Mon Sep 17 00:00:00 2001 From: Sameer Agarwal Date: Mon, 13 Sep 2021 17:19:05 -0700 Subject: [PATCH] Fix a number of typos in rotation.h Thanks to @yiping for reporting these. https://github.com/ceres-solver/ceres-solver/issues/672 Change-Id: I9c59d2b666430edf33f10aaba0d0ee4cd520e0a4 --- include/ceres/rotation.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h index df2d75e78..51079901a 100644 --- a/include/ceres/rotation.h +++ b/include/ceres/rotation.h @@ -624,16 +624,16 @@ inline void AngleAxisRotatePoint(const T angle_axis[3], result[2] = pt[2] * costheta + w_cross_pt[2] * sintheta + w[2] * tmp; } else { // Near zero, the first order Taylor approximation of the rotation - // matrix R corresponding to a vector w and angle w is + // matrix R corresponding to a vector w and angle theta is // // R = I + hat(w) * sin(theta) // // But sintheta ~ theta and theta * w = angle_axis, which gives us // - // R = I + hat(w) + // R = I + hat(angle_axis) // // and actually performing multiplication with the point pt, gives us - // R * pt = pt + w x pt. + // R * pt = pt + angle_axis x pt. // // Switching to the Taylor expansion near zero provides meaningful // derivatives when evaluated using Jets.