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Replace SLAM internal 6 DoF state vector by an homogeneous matrix.

Nicolas Cadart requested to merge fix/useIsometryForTworldAndTrelative into master

@gabriel.devillers @melanie.carriere

Replace SLAM internal 6 DoF state vector by an homogeneous matrix (stored as Eigen::Isometry3d).

Even if it has more parameters (4 x 4 matrix) instead of 6 scalars, it leads to much more cleaner code, a little faster as no conversions to homogeneous matrix are needed for transformations, and much more stable as no euler angles are used, avoiding conventions/representations/singularities.

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