Rot3.h File Reference

3D rotation represented as a rotation matrix or quaternion More...

#include <gtsam/geometry/Unit3.h>
#include <gtsam/geometry/Quaternion.h>
#include <gtsam/geometry/SO3.h>
#include <gtsam/base/concepts.h>
#include <gtsam/config.h>
#include <random>

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Classes
struct	gtsam::Rot3::CayleyChart
struct	gtsam::Rot3::ChartAtOrigin
class	gtsam::Rot3
	Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More...
struct	gtsam::traits< const Rot3 >
struct	gtsam::traits< Rot3 >

Namespaces
	gtsam
	traits

Macros
#define	ROT3_DEFAULT_COORDINATES_MODE   Rot3::CAYLEY

Typedefs
using	gtsam::Rot3Vector = list
	std::vector of Rot3s, used in Matlab wrapper More...

Functions
pair< Matrix3, Vector3 >	gtsam::RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H)

Detailed Description

3D rotation represented as a rotation matrix or quaternion

Author

Alireza Fathi

Christian Potthast

Frank Dellaert

Richard Roberts

Luca Carlone

Varun Agrawal

Definition in file Rot3.h.

Macro Definition Documentation

ROT3_DEFAULT_COORDINATES_MODE

#define ROT3_DEFAULT_COORDINATES_MODE   Rot3::CAYLEY

Definition at line 43 of file Rot3.h.