Rotation matrix NOTE: the angle theta is in radians unless explicitly stated.
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using | LieAlgebra = Matrix2 |
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Matrix1 | AdjointMap () const |
| | Calculate Adjoint map.
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static Rot2 | Expmap (const Vector1 &v, ChartJacobian H={}) |
| | Exponential map at identity - create a rotation from canonical coordinates.
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static Vector1 | Logmap (const Rot2 &r, ChartJacobian H={}) |
| | Log map at identity - return the canonical coordinates of this rotation.
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static Matrix1 | adjointMap (const Vector1 &) |
| | Lie-algebra adjoint (zero for abelian SO(2)).
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static Vector1 | adjoint (const Vector1 &, const Vector1 &, OptionalJacobian< 1, 1 > Hxi={}, OptionalJacobian< 1, 1 > Hy={}) |
| | Apply Lie-algebra adjoint (always zero).
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static Matrix | ExpmapDerivative (const Vector &) |
| | Left-trivialized derivative of the exponential map.
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static Matrix | LogmapDerivative (const Vector &) |
| | Left-trivialized derivative inverse of the exponential map.
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static Matrix2 | Hat (const Vector1 &xi) |
| | Hat maps from tangent vector to Lie algebra.
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static Vector1 | Vee (const Matrix2 &X) |
| | Vee maps from Lie algebra to tangent vector.
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| Rot2 () |
| | default constructor, zero rotation
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| Rot2 (const Rot2 &r)=default |
| | copy constructor
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Rot2 & | operator= (const Rot2 &other)=default |
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| Rot2 (double theta) |
| | Constructor from angle in radians == exponential map at identity.
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static Rot2 | fromAngle (double theta) |
| | Named constructor from angle in radians.
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static Rot2 | fromDegrees (double theta) |
| | Named constructor from angle in degrees.
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static Rot2 | fromCosSin (double c, double s) |
| | Named constructor from cos(theta),sin(theta) pair.
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| static Rot2 | relativeBearing (const Point2 &d, OptionalJacobian< 1, 2 > H={}) |
| | Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame.
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static Rot2 | atan2 (double y, double x) |
| | Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes.
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static Rot2 | Random (std::mt19937 &rng) |
| | Random, generates random angle \(\in\) [-pi,pi] Example: std::mt19937 engine(42); Unit3 unit = Unit3::Random(engine);.
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std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| | Provided fixed dimension in dim() if needed.
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| Eigen::Matrix< double, internal::product(N, N), 1 > | vec (OptionalJacobian< internal::product(N, N), D > H={}) const |
| | Vectorize the matrix representation of a Lie group element.
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| Jacobian | AdjointMap () const |
| | A generic implementation of AdjointMap for matrix Lie groups.
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| TangentVector | Adjoint (const TangentVector &xi, ChartJacobian H_this={}, ChartJacobian H_xi={}) const |
| | Adjoint action on a tangent vector.
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| TangentVector | AdjointTranspose (const TangentVector &x, ChartJacobian H_this={}, ChartJacobian H_x={}) const |
| | Dual Adjoint action on a tangent covector.
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SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| | Provided fixed dimension in dim() if needed.
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const Rot2 & | derived () const |
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Rot2 | inverse (ChartJacobian H) const |
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Rot2 | expmap (const TangentVector &v) const |
| | expmap as required by manifold concept Applies exponential map to v and composes with *this
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TangentVector | logmap (const Rot2 &g) const |
| | logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
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Rot2 | retract (const TangentVector &v) const |
| | retract as required by manifold concept: applies v at *this
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TangentVector | localCoordinates (const Rot2 &g) const |
| | localCoordinates as required by manifold concept: finds tangent vector between *this and g
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static constexpr int | Dim () |
| | Static method to get the dimension (compile-time or dynamic).
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static Jacobian | adjointMap (const TangentVector &xi) |
| | Lie algebra adjoint map ad_xi, with optional specialization in derived classes.
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static TangentVector | adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={}) |
| | Lie algebra action ad_xi(y), with optional Jacobians.
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static TangentVector | adjointTranspose (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={}) |
| | Dual Lie algebra action ad_xi^T(y), with optional Jacobians.
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static constexpr int | Dim () |
| | Static method to get the dimension (compile-time or dynamic).
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static Rot2 | Retract (const TangentVector &v) |
| | Retract at origin: possible in Lie group because it has an identity.
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static TangentVector | LocalCoordinates (const Rot2 &g) |
| | LocalCoordinates at origin: possible in Lie group because it has an identity.
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static constexpr auto | dimension |
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static constexpr auto | dimension |
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using | Base |
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using | ChartJacobian |
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using | Jacobian |
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using | TangentVector |
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using | Vectorized |
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using | VectorizedJacobian |
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typedef OptionalJacobian< N, N > | ChartJacobian |
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typedef Eigen::Matrix< double, N, N > | Jacobian |
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typedef Eigen::Matrix< double, N, 1 > | TangentVector |
