gtsam::so3::ExpmapFunctor Class Reference

Functor implementing Exponential map. More...

#include <SO3.h>

Inheritance diagram for gtsam::so3::ExpmapFunctor:

Public Member Functions
SO3	expmap () const
	Rodrigues formula. More...
	ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false)
	Constructor with axis-angle. More...
	ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false)
	Constructor with element of Lie algebra so(3) More...

Protected Member Functions
void	init (bool nearZeroApprox=false)

Protected Attributes
Matrix3	K
Matrix3	KK
bool	nearZero
double	one_minus_cos
double	sin_theta
double	theta
const double	theta2
Matrix3	W

Detailed Description

Functor implementing Exponential map.

Definition at line 136 of file SO3.h.

Constructor & Destructor Documentation

ExpmapFunctor() [1/2]

gtsam::so3::ExpmapFunctor::ExpmapFunctor ( const Vector3 &  omega, bool  nearZeroApprox = false  )

explicit

Constructor with element of Lie algebra so(3)

Definition at line 60 of file SO3.cpp.

ExpmapFunctor() [2/2]

gtsam::so3::ExpmapFunctor::ExpmapFunctor	(	const Vector3 &	axis,
		double	angle,
		bool	nearZeroApprox = false
	)

Constructor with axis-angle.

Definition at line 71 of file SO3.cpp.

Member Function Documentation

expmap()

SO3 gtsam::so3::ExpmapFunctor::expmap

(

)

const

Rodrigues formula.

Definition at line 83 of file SO3.cpp.

init()

void gtsam::so3::ExpmapFunctor::init ( bool  nearZeroApprox = false )

protected

Definition at line 50 of file SO3.cpp.

Member Data Documentation

K

Matrix3 gtsam::so3::ExpmapFunctor::K

protected

Definition at line 139 of file SO3.h.

KK

Matrix3 gtsam::so3::ExpmapFunctor::KK

protected

Definition at line 139 of file SO3.h.

nearZero

bool gtsam::so3::ExpmapFunctor::nearZero

protected

Definition at line 140 of file SO3.h.

one_minus_cos

double gtsam::so3::ExpmapFunctor::one_minus_cos

protected

Definition at line 141 of file SO3.h.

sin_theta

double gtsam::so3::ExpmapFunctor::sin_theta

protected

Definition at line 141 of file SO3.h.

theta

double gtsam::so3::ExpmapFunctor::theta

protected

Definition at line 141 of file SO3.h.

theta2

const double gtsam::so3::ExpmapFunctor::theta2

protected

Definition at line 138 of file SO3.h.

W

Matrix3 gtsam::so3::ExpmapFunctor::W

protected

Definition at line 139 of file SO3.h.

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

• SO3.h
• SO3.cpp