Functor that implements Exponential map and its derivatives. More...
#include <SO3.h>
Inheritance diagram for gtsam::so3::DexpFunctor:
Collaboration diagram for gtsam::so3::DexpFunctor:
Public Member Functions | |
| GTSAM_EXPORT | DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false) |
| Constructor with element of Lie algebra so(3) | |
| const Matrix3 & | dexp () const |
| GTSAM_EXPORT Vector3 | applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
| Multiplies with dexp(), with optional derivatives. | |
| GTSAM_EXPORT Vector3 | applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
| Multiplies with dexp().inverse(), with optional derivatives. | |
| SO3 | expmap () const |
| Rodrigues formula. | |
Protected Member Functions | |
| void | init (bool nearZeroApprox=false) |
Protected Attributes | |
| const double | theta2 |
| Matrix3 | W |
| Matrix3 | K |
| Matrix3 | KK |
| bool | nearZero |
| double | theta |
| double | sin_theta |
| double | one_minus_cos |
Detailed Description
Functor that implements Exponential map and its derivatives.
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/SO3.h
