Question about the dr/dxi in the pi factor

Hi,

Could I ask how the below results are derived?

  // dr/dxi = sqrt(S)'* T' * G' * pi = sqrt(S)'* T' * [normal^ | 0 0 0  ]
    //                                                   0 0 0   | normal']

mrob/src/plane-surfaces/factors/PiFactorPlane.cpp

Line 75 in c005a51

// dr/dxi = sqrt(S)'* T' * G' * pi = sqrt(S)'* T' * [normal^ | 0 0 0 ]

Based on barfoot_ser17.pdf eq(7.159), the results seem should be
sqrt(S)'* T' * [d, d, d, -normal^
0^T, 0^T]
where n is the plane normal and d is the distance to origin.

I found the mistakes in my derivation, and I can confirm the math in the above code is correct.
Thanks for the opening source this project.

Yes, I see your point. On the convention, I am following this: xi = [theta, pho], so many things compered to Barfoot's book require re-arrangement.
Thanks for your comment!