gtsam::so3::Kernel Struct Reference

Detailed Description

Kernel: M(ω) = a I + b Ω + c Ω² with radial derivatives db,dc for Fréchet.

Right variants flip b→-b, db→-db (no recompute of Ω/Ω²). Keep a pointer to Local: Kernel methods above return a const & to prevent having a pointer to a temporary.

Public Member Functions
Matrix3	left () const
Matrix3	right () const
Vector3	applyLeft (const Vector3 &v, OptionalJacobian< 3, 3 > Hw={}, OptionalJacobian< 3, 3 > Hv={}) const
Vector3	applyRight (const Vector3 &v, OptionalJacobian< 3, 3 > Hw={}, OptionalJacobian< 3, 3 > Hv={}) const
Matrix3	frechet (const Matrix3 &X) const
	Fréchet derivative of left-kernel M(ω) in the direction X ∈ so(3) L_M(Ω)[X] = b X + c (Ω X + X Ω) + s (db Ω + dc Ω²), with s = -½ tr(Ω X).
Matrix3	applyFrechet (const Vector3 &v) const
	Apply Fréchet derivative to vector (left specialization).

Public Attributes
const DexpFunctor *	S
double	a {0}
double	b {0}
double	c {0}
double	db {0}
double	dc {0}

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Kernel.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Kernel.cpp