SO3.cpp File Reference

3*3 matrix representation of SO(3) More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
GTSAM_EXPORT Matrix99	gtsam::so3::Dcompose (const SO3 &R)
	(constant) Jacobian of compose wrpt M
GTSAM_EXPORT Matrix3	gtsam::so3::compose (const Matrix3 &M, const SO3 &R, OptionalJacobian< 9, 9 > H=boost::none)
	Compose general matrix with an SO(3) element.

Detailed Description

3*3 matrix representation of SO(3)

Author

Frank Dellaert

Luca Carlone

Duy Nguyen Ta

Date

December 2014

Function Documentation

compose()

GTSAM_EXPORT Matrix3 gtsam::so3::compose	(	const Matrix3 &	M,
		const SO3 &	R,
		OptionalJacobian< 9, 9 >	H = boost::none )

Compose general matrix with an SO(3) element.

We only provide the 9*9 derivative in the first argument M.