diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h index 6e966fbc69d2eabb5f809ed4f8d3450634771a20..a897c97bf3c977d775e37ae876c0bb669dd55614 100644 --- a/include/core/factor/factor_quaternion_absolute.h +++ b/include/core/factor/factor_quaternion_absolute.h @@ -72,7 +72,7 @@ inline bool FactorQuaternionAbsolute::operator ()(const T* const _o, T* _residua * * In rotations.h, we have * minus(q1,q2) = minus_right(q1,q2) = log_q(q1.conjugate() * q2); --> this is a local 'minus' - * minus_left(q1,q2) = log_q(q2.conjugate() * q1); --> this is a global 'minus' + * minus_left(q1,q2) = log_q(q2 * q1.conjugate()); --> this is a global 'minus' */ Eigen::Matrix<T, 3, 1> er;