Detailed Description

Opaque evaluation context at ω: caches Ω, Ω², θ, θ², nearZero/nearPi, Lazily computes C, D, E, dA, dB, dC, dE on demand.

Math is based on Ethan Eade's elegant Lie group document, at https://www.ethaneade.org/lie.pdf, and the Kernel idea in doc/Jacobians.md

Inheritance diagram for gtsam::so3::ExpmapFunctor:

Public Member Functions
	ExpmapFunctor (const Vector3 &omega)
	Constructor with element of Lie algebra so(3).
	ExpmapFunctor (double nearZeroThresholdSq, const Vector3 &axis)
	Constructor with threshold (advanced).
	ExpmapFunctor (const Vector3 &axis, double angle)
	Constructor with axis-angle.
Matrix3	expmap () const
	Rodrigues formula.

Public Attributes
double	theta2
	The squared norm of the rotation vector (θ²).
double	theta
	The norm of the rotation vector (θ).
Matrix3	W
	The skew-symmetric matrix Ω for the rotation vector.
Matrix3	WW
	The square of the skew-symmetric matrix (Ω²).
bool	nearZero {false}
	Flag indicating if theta is near zero.
double	A
double	B

Protected Member Functions
void	init (double nearZeroThresholdSq)

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

Public Member Functions