gtsam::so3::DexpFunctor Class Reference
Detailed Description
Functor that implements Exponential map and its derivatives.
Inheritance diagram for gtsam::so3::DexpFunctor:
Public Member Functions | |
| DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false) | |
| Constructor with element of Lie algebra so(3) | |
| const Matrix3 & | dexp () const |
| Vector3 | applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const |
| Multiplies with dexp(), with optional derivatives. | |
| Vector3 | applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const |
| Multiplies with dexp().inverse(), with optional derivatives. | |
| Public Member Functions inherited from gtsam::so3::ExpmapFunctor | |
| ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false) | |
| Constructor with element of Lie algebra so(3) | |
| ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false) | |
| Constructor with axis-angle. | |
| SO3 | expmap () const |
| Rodrigues formula. | |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::so3::ExpmapFunctor | |
| void | init (bool nearZeroApprox=false) |
| Protected Attributes inherited from gtsam::so3::ExpmapFunctor | |
| const double | theta2 |
| Matrix3 | W |
| Matrix3 | K |
| Matrix3 | KK |
| bool | nearZero |
| double | theta |
| double | sin_theta |
| double | one_minus_cos |
The documentation for this class was generated from the following files:
