From 0474b0750818d611f7d3ccc6a7d5150ecd8973d1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 15 Jan 2021 16:10:27 +0100
Subject: [PATCH] Fix comment
---
include/core/factor/factor_quaternion_absolute.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 6e966fbc6..a897c97bf 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;
--
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