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Correct spelling in comments and docs.

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Change-Id: Iad9a0599d644d3b3cd54244edaf64d408cb1308e
This commit is contained in:
Evan Levine
2022-04-24 19:07:37 -07:00
parent fd2b0ceed2
commit f1414cb5bd
72 changed files with 130 additions and 130 deletions
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include/ceres/internal/sphere_manifold_functions.h
+4 -4
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@@ -115,18 +115,18 @@ inline void ComputeSphereManifoldMinus(
AmbientSpaceDim == Eigen::Dynamic ? Eigen::Dynamic : AmbientSpaceDim - 1;
using AmbientVector = Eigen::Matrix<double, AmbientSpaceDim, 1>;
const int tanget_size = v.size() - 1;
const int tangent_size = v.size() - 1;
const AmbientVector hy = ApplyHouseholderVector(y, v, beta) / x.norm();
// Calculate y - x. See B.2 p.25 equation (108).
double y_last = hy[tanget_size];
double hy_norm = hy.template head<TangentSpaceDim>(tanget_size).norm();
double y_last = hy[tangent_size];
double hy_norm = hy.template head<TangentSpaceDim>(tangent_size).norm();
if (hy_norm == 0.0) {
y_minus_x->setZero();
} else {
*y_minus_x = 2.0 * std::atan2(hy_norm, y_last) / hy_norm *
hy.template head<TangentSpaceDim>(tanget_size);
hy.template head<TangentSpaceDim>(tangent_size);
}
}