From e60e6a6bd31926d20586adc09e2fc5f45c6e44be Mon Sep 17 00:00:00 2001 From: Jeff Irion Date: Thu, 19 Oct 2023 20:29:45 -0700 Subject: [PATCH] Fix SE(2) inverse --- SLAM/GraphBasedSLAM/graphslam/pose/se2.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/SLAM/GraphBasedSLAM/graphslam/pose/se2.py b/SLAM/GraphBasedSLAM/graphslam/pose/se2.py index e89317a06f..615310e638 100644 --- a/SLAM/GraphBasedSLAM/graphslam/pose/se2.py +++ b/SLAM/GraphBasedSLAM/graphslam/pose/se2.py @@ -136,8 +136,8 @@ def inverse(self): """ return PoseSE2([-self[0] * np.cos(self[2]) - self[1] * np.sin(self[2]), - self[0] * np.sin(self[2]) - self[1] * np.cos( - [self[2]])], -self[2]) + self[0] * np.sin(self[2]) - self[1] * np.cos(self[2]), + -self[2]) # ======================================================================= # # #