gtsam  4.1.0
gtsam
SO3.cpp File Reference

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

Namespaces

 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. More...
 

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.