gtsam::internal::TangentLieGroupJacobian< Rot3 > Struct Reference

Detailed Description

Closed-form right Jacobian for TSO(3) = SO(3) semidirect-product so(3).

Under the standard [omega; v] coordinates, TSO(3) is isomorphic to SE(3): the algebra component v is exactly the translational component. Reusing the SO(3) dexp kernel therefore produces the same block Jacobian as Pose3::Expmap, without evaluating the generic 9-by-9 Frechet exponential.

Static Public Member Functions
static std::pair< Rot3, Vector3 >	expmap (const Vector3 &omega, const Vector3 &v, OptionalJacobian< 6, 6 > derivative={})
	Evaluate the complete TSO(3) exponential from one SO(3) kernel.
static Matrix6	rightJacobian (const Vector3 &omega, const Vector3 &v)

Static Public Attributes
static constexpr bool	available = true
static constexpr bool	expmapAvailable = true

Member Function Documentation

expmap()

std::pair< Rot3, Vector3 > gtsam::internal::TangentLieGroupJacobian< Rot3 >::expmap ( const Vector3 & omega, const Vector3 & v, OptionalJacobian< 6, 6 > derivative = {} )

inlinestatic

Evaluate the complete TSO(3) exponential from one SO(3) kernel.

The precomputed rotation is passed back into tangentExpmap so evaluating Q_r never repeats Rodrigues' formula. The returned pair is exactly the rotation and translation of Pose3::Expmap under the TSO(3) isomorphism.

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Rot3.h