gtsam::SO< N >::ChartAtOrigin Struct Reference

Static Public Member Functions
static SO	Retract (const TangentVector &xi, ChartJacobian H={})
static TangentVector	Local (const SO &R, ChartJacobian H={})

Member Function Documentation

Local()

template<int N>

SO< N >::TangentVector gtsam::SO< N >::ChartAtOrigin::Local ( const SO &  R, ChartJacobian  H = {}  )

static

Inverse of Retract. See note about xi element order in Hat.

Retract()

template<int N>

SO< N > gtsam::SO< N >::ChartAtOrigin::Retract ( const TangentVector &  xi, ChartJacobian  H = {}  )

static

Retract uses Cayley map. See note about xi element order in Hat. Deafault implementation has no Jacobian implemented

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The documentation for this struct was generated from the following files:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/SOn.h
• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/SOn-inl.h