SO3.h File Reference

3*3 matrix representation of SO(3) More...

#include <gtsam/geometry/SOn.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/dllexport.h>
#include <cmath>
#include <vector>

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Classes
class	gtsam::so3::ExpmapFunctor
	Functor implementing Exponential map. More...
class	gtsam::so3::DexpFunctor
	Functor that implements Exponential map and its derivatives. More...
struct	gtsam::traits< SO3 >
struct	gtsam::traits< const SO3 >

Namespaces
	gtsam

Typedefs
using	gtsam::SO3 = SO< 3 >

Functions
GTSAM_EXPORT Matrix3	gtsam::so3::compose (const Matrix3 &M, const SO3 &R, OptionalJacobian< 9, 9 > H={})
GTSAM_EXPORT Matrix99	gtsam::so3::Dcompose (const SO3 &R)
	(constant) Jacobian of compose wrpt M

Detailed Description

3*3 matrix representation of SO(3)

Author

Frank Dellaert

Luca Carlone

Duy Nguyen Ta

Date

December 2014

Function Documentation

compose()

GTSAM_EXPORT Matrix3 gtsam::so3::compose	(	const Matrix3 &	M,
		const SO3 &	R,
		OptionalJacobian< 9, 9 >	H = {}
	)

Compose general matrix with an SO(3) element. We only provide the 9*9 derivative in the first argument M.