gtsam  4.1.0
gtsam
SO4.cpp File Reference

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

Namespaces

 gtsam
 Global functions in a separate testing namespace.
 

Functions

GTSAM_EXPORT Matrix3 gtsam::topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H=boost::none)
 Project to top-left 3*3 matrix. More...
 
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).
 

Detailed Description

4*4 matrix representation of SO(4)

Author
Frank Dellaert
Luca Carlone