gtsam  4.1.0
gtsam
SO3.h File Reference

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

Go to the source code of this file.

Classes

class  gtsam::so3::ExpmapFunctor
 Functor implementing Exponential map. More...
 
class  gtsam::so3::DexpFunctor
 Functor that implements Exponential map and its derivatives. More...
 
struct  gtsam::traits< SO3 >
 
struct  gtsam::traits< const SO3 >
 

Namespaces

 gtsam
 Global functions in a separate testing namespace.
 

Typedefs

using gtsam::SO3 = SO< 3 >
 

Functions

template<class Archive >
void gtsam::serialize (Archive &ar, SO3 &R, const unsigned int)
 Serialization function.
 
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...
 
GTSAM_EXPORT Matrix99 gtsam::so3::Dcompose (const SO3 &R)
 (constant) Jacobian of compose wrpt M
 

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.