gtsam  4.1.0
gtsam
gtsam::so3::DexpFunctor Class Reference

Detailed Description

Functor that implements Exponential map and its derivatives.

+ Inheritance diagram for gtsam::so3::DexpFunctor:

Public Member Functions

GTSAM_EXPORT DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false)
 Constructor with element of Lie algebra so(3)
 
const Matrix3 & dexp () const
 
GTSAM_EXPORT Vector3 applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Multiplies with dexp(), with optional derivatives.
 
GTSAM_EXPORT Vector3 applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Multiplies with dexp().inverse(), with optional derivatives.
 
- Public Member Functions inherited from gtsam::so3::ExpmapFunctor
 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.
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::so3::ExpmapFunctor
void init (bool nearZeroApprox=false)
 
- Protected Attributes inherited from gtsam::so3::ExpmapFunctor
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: