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Add Jacobian of second argument to adjoint and adjointTranpsose #922

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merged 2 commits into from
Nov 11, 2021

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@gchenfc gchenfc commented Nov 11, 2021

The adjoint function is equivalent to

adjointMap(x) * y

The current function can output the jacobian w.r.t. x but not w.r.t. y, for some reason. This PR adds the jacobian w.r.t. y.

The jacobian w.r.t. y is pretty obviously adjointMap(x), but I think it's convenient and more consistent with other function calls to have the option to include both jacobians.

This also updates the python wrapper, since the new wrapper does not have any issues with the non-underscore versions of the functions.

@gchenfc gchenfc added the quick-review Quick and easy PR to review label Nov 11, 2021
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Cool!

@gchenfc gchenfc merged commit 496a206 into develop Nov 11, 2021
@gchenfc gchenfc deleted the feature/Pose3adjointJacobians branch November 11, 2021 07:37
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