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

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/SO3.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/SO3.cpp