gtsam  4.1.0
gtsam
Rot3.h File Reference

3D rotation represented as a rotation matrix or quaternion More...

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Classes

class  gtsam::Rot3
 
struct  gtsam::Rot3::CayleyChart
 
struct  gtsam::Rot3::ChartAtOrigin
 
struct  gtsam::traits< Rot3 >
 
struct  gtsam::traits< const Rot3 >
 

Namespaces

 gtsam
 Global functions in a separate testing namespace.
 

Macros

#define ROT3_DEFAULT_COORDINATES_MODE   Rot3::CAYLEY
 

Functions

pair< Matrix3, Vector3 > gtsam::RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H=boost::none)
 [RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx' such that A = R*Q = R*Qz'*Qy'*Qx'. More...
 

Detailed Description

3D rotation represented as a rotation matrix or quaternion

Author
Alireza Fathi
Christian Potthast
Frank Dellaert
Richard Roberts
Luca Carlone
Varun Agrawal