3D rotation represented as a rotation matrix or quaternion More...
#include <gtsam/geometry/Unit3.h>#include <gtsam/geometry/Quaternion.h>#include <gtsam/geometry/SO3.h>#include <gtsam/base/concepts.h>#include <gtsam/config.h>#include <random>
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Classes | |
| class | gtsam::Rot3 |
| Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More... | |
| struct | gtsam::Rot3::CayleyChart |
| struct | gtsam::Rot3::ChartAtOrigin |
| struct | gtsam::traits< Rot3 > |
| struct | gtsam::traits< const Rot3 > |
Namespaces | |
| gtsam | |
Macros | |
| #define | ROT3_DEFAULT_COORDINATES_MODE Rot3::CAYLEY |
Typedefs | |
| using | gtsam::Rot3Vector = std::vector< Rot3, Eigen::aligned_allocator< Rot3 > > |
| std::vector of Rot3s, mainly for wrapper | |
Functions | |
| GTSAM_EXPORT std::pair< Matrix3, Vector3 > | gtsam::RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H={}) |
Detailed Description
3D rotation represented as a rotation matrix or quaternion
