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

Classes
class	gtsam::SO< N >
	Manifold of special orthogonal rotation matrices SO<N>. More...

struct	gtsam::SO< N >::ChartAtOrigin

struct	gtsam::traits< SO< N > >

struct	gtsam::traits< const SO< N > >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::SOn = SO< Eigen::Dynamic >

using	gtsam::DynamicJacobian = OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic >

Functions
constexpr int	gtsam::internal::DimensionSO (int N)
	Calculate dimensionality of SO<N> manifold, or return Dynamic if so.

constexpr int	gtsam::internal::NSquaredSO (int N)

template<class Archive >
void	gtsam::serialize (Archive &ar, SOn &Q, const unsigned int file_version)
	Serialization function.

Detailed Description

N*N matrix representation of SO(N).

N can be Eigen::Dynamic

Classes