question about the 33 line "lp= q_last_curr*cp+t_last_curr" in lidarFactor.hpp

[Zhangjyhhh]

Hi ! Thanks for your excellent work!!
Does that line mean that transform local coordinate system to world coordinate system? if so , i think the right version is "lp= q_last_currcp(q_last_curr)^(-1)+t_last_curr". where (q_last_curr)^(-1) is the inverse of (q_last_curr). So if not , what on earth that equation mean?