void SE_average<3>::get_average(mrpt::poses::CPose3D &ret_mean) const { ASSERT_ABOVE_(m_count,0); ret_mean.x( m_accum_x / m_count ); ret_mean.y( m_accum_y / m_count ); ret_mean.z( m_accum_z / m_count ); const_cast<SO_average<3>*>(&m_rot_part)->enable_exception_on_undeterminate = this->enable_exception_on_undeterminate; ret_mean.setRotationMatrix( m_rot_part.get_average() ); }