4*4 matrix representation of SO(4) More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
GTSAM_EXPORT Matrix3	gtsam::topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H=boost::none)
	Project to top-left 3*3 matrix. More...

GTSAM_EXPORT Matrix43	gtsam::stiefel (const SO4 &Q, OptionalJacobian< 12, 6 > H=boost::none)
	Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) -> S \in St(3,4).

Detailed Description

4*4 matrix representation of SO(4)

Namespaces