Static Public Member Functions
static SO	Retract (const TangentVector &xi)
	Retract uses Cayley map.
static SO	Retract (const TangentVector &xi, ChartJacobian H)=delete
	Retract with a Jacobian, specialized only for dimensions that support it.
static TangentVector	Local (const SO &R)
	Inverse of Retract.
static TangentVector	Local (const SO &R, ChartJacobian H)=delete
	Local coordinates with a Jacobian, specialized when supported.

Member Function Documentation

◆ Local()

template<int N>

SO< N >::TangentVector gtsam::SO< N >::ChartAtOrigin::Local ( const SO & R )

static

Inverse of Retract.

See note about xi element order in Hat.

template<int N>

SO< N > gtsam::SO< N >::ChartAtOrigin::Retract ( const TangentVector & xi )

static

Retract uses Cayley map.

See note about xi element order in Hat. Deafault implementation has no Jacobian implemented

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