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[wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966)

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Tyler Veness
2023-01-18 13:46:45 -08:00
committed by GitHub
parent a8c465f3fb
commit 0ebf79b54c
1 changed files with 1 additions and 1 deletions
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wpimath/src/main/native/cpp/geometry/Pose3d.cpp
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@@ -82,7 +82,7 @@ Pose3d Pose3d::Exp(const Twist3d& twist) const {
// http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17_identities.pdf
Matrixd<3, 3> J;
if (thetaSq < 1E-9 * 1E-9) {
// V = I + 0.5ω
// J = I + 0.5ω
J = Matrixd<3, 3>::Identity() + 0.5 * Omega;
} else {
double theta = std::sqrt(thetaSq);