gtsam  4.1.0
gtsam
gtsam::SO< N >::ChartAtOrigin Struct Reference

Static Public Member Functions

static SO Retract (const TangentVector &xi, ChartJacobian H=boost::none)
 Retract uses Cayley map. More...
 
static TangentVector Local (const SO &R, ChartJacobian H=boost::none)
 Inverse of Retract. More...
 

Member Function Documentation

◆ Local()

template<int N>
SO< N >::TangentVector gtsam::SO< N >::ChartAtOrigin::Local ( const SO R,
ChartJacobian  H = boost::none 
)
static

Inverse of Retract.

See note about xi element order in Hat.

◆ Retract()

template<int N>
SO< N > gtsam::SO< N >::ChartAtOrigin::Retract ( const TangentVector &  xi,
ChartJacobian  H = boost::none 
)
static

Retract uses Cayley map.

See note about xi element order in Hat. Deafault implementation has no Jacobian implemented


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