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Inline keyword for navigation expression functions #60

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merged 1 commit into from
Jun 11, 2019
Merged

Inline keyword for navigation expression functions #60

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6 changes: 3 additions & 3 deletions gtsam/slam/expressions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ inline Point3_ transformFrom(const Pose3_& x, const Point3_& p) {

namespace internal {
// define getter that returns value rather than reference
Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) {
inline Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) {
return pose.rotation(H);
}
} // namespace internal
Expand Down Expand Up @@ -70,12 +70,12 @@ inline Unit3_ unrotate(const Rot3_& x, const Unit3_& p) {
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
namespace internal {
// define a rotate and unrotate for Vector3
Vector3 rotate(const Rot3& R, const Vector3& v,
inline Vector3 rotate(const Rot3& R, const Vector3& v,
OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) {
return R.rotate(v, H1, H2);
}
Vector3 unrotate(const Rot3& R, const Vector3& v,
inline Vector3 unrotate(const Rot3& R, const Vector3& v,
OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) {
return R.unrotate(v, H1, H2);
Expand Down