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

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.

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: