ethz-asl/kindr — pull request #42 by furgalep (2014-06-22 16:23:01+00:00)
Title: First cut at implementing invert() and inverted() for poses

DO NOT MERGE, this is for discussion only.

@HannesSommer, I need your help with this.

This fails to compile because inverted() returns the wrong type. The compiler is right about this because the class hierarchy looks like:

PoseBase --> HomogeneousTransformation --> HomogeneousTransformationPosition3RotationQuaternion

How is HomogeneousTransformation supposed to know what type to return?

Thanks!