SO4.h File Reference

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

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Classes
struct	gtsam::traits< SO4 >
struct	gtsam::traits< const SO4 >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::SO4 = SO<4>

Functions
GTSAM_EXPORT Matrix3	gtsam::topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H=boost::none)
	Project to top-left 3*3 matrix.
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) -> \( S \in St(3,4) \).
template<class Archive>
void	gtsam::serialize (Archive &ar, SO4 &Q, const unsigned int)
	Serialization function.

Detailed Description

4*4 matrix representation of SO(4)

Author

Frank Dellaert

Luca Carlone

Date

March 2019