gtsam  4.1.0
gtsam
gtsam::so3::ExpmapFunctor Class Reference

Detailed Description

Functor implementing Exponential map.

+ Inheritance diagram for gtsam::so3::ExpmapFunctor:

Public Member Functions

 ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false)
 Constructor with element of Lie algebra so(3)
 
 ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false)
 Constructor with axis-angle.
 
SO3 expmap () const
 Rodrigues formula.
 

Protected Member Functions

void init (bool nearZeroApprox=false)
 

Protected Attributes

const double theta2
 
Matrix3 W
 
Matrix3 K
 
Matrix3 KK
 
bool nearZero
 
double theta
 
double sin_theta
 
double one_minus_cos
 

The documentation for this class was generated from the following files: