Variables | |
SO4 | id |
SO4 | Q1 = SO4::Expmap(v1) |
SO4 | Q2 = SO4::Expmap(v2) |
SO3 | R1 = SO3::Expmap(v1.tail<3>()) |
SO3 | R12 = R1.between(R2) |
SO3 | R2 = SO3::Expmap(v2.tail<3>()) |
Vector6 | v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished() |
Vector6 | v2 = (Vector(6) << 0, 0, 0, 0.01, 0.02, 0.03).finished() |
SO4 submanifold::id |
Definition at line 49 of file testShonanFactor.cpp.
SO4 submanifold::Q1 = SO4::Expmap(v1) |
Definition at line 52 of file testShonanFactor.cpp.
SO4 submanifold::Q2 = SO4::Expmap(v2) |
Definition at line 55 of file testShonanFactor.cpp.
SO3 submanifold::R1 = SO3::Expmap(v1.tail<3>()) |
Definition at line 51 of file testShonanFactor.cpp.
Definition at line 56 of file testShonanFactor.cpp.
SO3 submanifold::R2 = SO3::Expmap(v2.tail<3>()) |
Definition at line 54 of file testShonanFactor.cpp.
Vector6 submanifold::v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished() |
Definition at line 50 of file testShonanFactor.cpp.
Vector6 submanifold::v2 = (Vector(6) << 0, 0, 0, 0.01, 0.02, 0.03).finished() |
Definition at line 53 of file testShonanFactor.cpp.