Rot3.h File Reference

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

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Classes
class	gtsam::Rot3
	Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More...
struct	gtsam::Rot3::CayleyChart
struct	gtsam::Rot3::ChartAtOrigin
struct	gtsam::traits< Rot3 >
struct	gtsam::traits< const Rot3 >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	ROT3_DEFAULT_COORDINATES_MODE   Rot3::CAYLEY

Typedefs
using	gtsam::Rot3Vector = std::vector<Rot3, Eigen::aligned_allocator<Rot3> >
	std::vector of Rot3s, mainly for wrapper

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'.

Detailed Description

3D rotation represented as a rotation matrix or quaternion

Author

Alireza Fathi

Christian Potthast

Frank Dellaert

Richard Roberts

Luca Carlone

Varun Agrawal