address review

artivis · Mar 21, 2024 · c9776f9 · c9776f9
1 parent 82634d5
commit c9776f9
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/include/manif/impl/sgal3/SGal3_base.h b/include/manif/impl/sgal3/SGal3_base.h
@@ -93,15 +93,15 @@ struct SGal3Base : LieGroupBase<_Derived> {
   /**
    * @brief Get the action
    * @param[in] p A 3D point.
-   * @param[out] -optional- J_vout_m The Jacobian of the new object wrt this.
-   * @param[out] -optional- J_vout_p The Jacobian of the new object wrt input object.
+   * @param[out] -optional- J_pout_m The Jacobian of the new object wrt this.
+   * @param[out] -optional- J_pout_p The Jacobian of the new object wrt input object.
    */
   template <typename _EigenDerived>
   Eigen::Matrix<Scalar, 3, 1>
   act(
     const Eigen::MatrixBase<_EigenDerived> &p,
-    tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_vout_m = {},
-    tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_p = {}
+    tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_pout_m = {},
+    tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_pout_p = {}
   ) const;
 
   /**
@@ -325,22 +325,22 @@ template <typename _EigenDerived>
 Eigen::Matrix<typename SGal3Base<_Derived>::Scalar, 3, 1>
 SGal3Base<_Derived>::act(
   const Eigen::MatrixBase<_EigenDerived> &p,
-  tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_vout_m,
-  tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_p
+  tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_pout_m,
+  tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_pout_p
 ) const {
   assert_vector_dim(p, 3);
 
   const Rotation R(rotation());
 
-  if (J_vout_m) {
-    J_vout_m->template topLeftCorner<3, 3>() = R;
-    J_vout_m->template block<3, 3>(0, 3).setZero();
-    J_vout_m->template block<3, 3>(0, 6).noalias() = -R * skew(p);
-    J_vout_m->template topRightCorner<3, 1>() = linearVelocity();
+  if (J_pout_m) {
+    J_pout_m->template topLeftCorner<3, 3>() = R;
+    J_pout_m->template block<3, 3>(0, 3).setZero();
+    J_pout_m->template block<3, 3>(0, 6).noalias() = -R * skew(p);
+    J_pout_m->template topRightCorner<3, 1>() = linearVelocity();
   }
 
-  if (J_vout_p) {
-    (*J_vout_p) = R;
+  if (J_pout_p) {
+    (*J_pout_p) = R;
   }
 
   return translation() + R * p;