Static Public Member Functions
Group traits
static Q	Identity ()

Lie group traits
static Q	Compose (const Q &g, const Q &h, ChartJacobian Hg=boost::none, ChartJacobian Hh=boost::none)

static Q	Between (const Q &g, const Q &h, ChartJacobian Hg=boost::none, ChartJacobian Hh=boost::none)

static Q	Inverse (const Q &g, ChartJacobian H=boost::none)

static Q	Expmap (const Eigen::Ref< const TangentVector > &omega, ChartJacobian H=boost::none)
	Exponential map, using the inlined code from Eigen's conversion from axis/angle.

static TangentVector	Logmap (const Q &q, ChartJacobian H=boost::none)
	We use our own Logmap, as there is a slight bug in Eigen.

Manifold traits
static TangentVector	Local (const Q &g, const Q &h, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Q	Retract (const Q &g, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

Testable
static void	Print (const Q &q, const std::string &str="")

static bool	Equals (const Q &q1, const Q &q2, double tol=1e-8)

Public Types
typedef QUATERNION_TYPE	ManifoldType

typedef QUATERNION_TYPE	Q

typedef lie_group_tag	structure_category

typedef multiplicative_group_tag	group_flavor

Basic manifold traits
enum	{ dimension = 3 }

typedef OptionalJacobian< 3, 3 >	ChartJacobian

typedef Eigen::Matrix< _Scalar, 3, 1, _Options, 3, 1 >	TangentVector

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

Static Public Member Functions

Public Types