Fixed typo in quaternion path

borglab · Jan 15, 2025 · d6581cd · d6581cd
1 parent 04e04ee
commit d6581cd
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
@@ -189,7 +189,7 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi) {
 
   // Compute rotation using Expmap
 #ifdef GTSAM_USE_QUATERNIONS
-  const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
+  const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
 #else
   const Rot3 R(local.expmap());
 #endif

diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
@@ -123,7 +123,7 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> Hxi) {
 
   // Compute rotation using Expmap
 #ifdef GTSAM_USE_QUATERNIONS
-  const Rot3 R = traits<gtsam::Quaternion>::Expmap(v);
+  const Rot3 R = traits<gtsam::Quaternion>::Expmap(w);
 #else
   const Rot3 R(local.expmap());
 #endif