function [ X ] = special_add_centric2( X,S )
s_theta=S(1:3);
s_p=S(4:6);
sizeS=size(S,1);
NumberOfLandmarks=(sizeS-6)/3;
Exps=so3_exp(s_theta);
X.position= X.position+s_p;
% X.position= Exps*X.position+s_p;
if NumberOfLandmarks>=1
s_landmarksMatrix=reshape(S(7:end),3,NumberOfLandmarks);
X.landmarks(1:3,:)=X.landmarks(1:3,:)+s_landmarksMatrix;
end
X.orientation=Exps*X.orientation;
end