#include <SOn.h>
Additional Inherited Members | |
![]() | |
typedef lie_group_tag | structure_category |
enum | |
typedef SO< N > | ManifoldType |
typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
typedef multiplicative_group_tag | group_flavor |
![]() | |
GTSAM_CONCEPT_ASSERT (HasTestablePrereqs< SO< N > >) | |
![]() | |
static TangentVector | Logmap (const SO< N > &m, ChartJacobian Hm={}) |
static SO< N > | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
static SO< N > | Compose (const SO< N > &m1, const SO< N > &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
static SO< N > | Between (const SO< N > &m1, const SO< N > &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
static SO< N > | Inverse (const SO< N > &m, ChartJacobian H={}) |
static TangentVector | Local (const SO< N > &origin, const SO< N > &other, ChartJacobian Horigin={}, ChartJacobian Hother={}) |
static SO< N > | Retract (const SO< N > &origin, const TangentVector &v, ChartJacobian Horigin={}, ChartJacobian Hv={}) |
static SO< N > | Identity () |
![]() | |
static int | GetDimension (const SO< N > &) |
![]() | |
static bool | Equals (const SO< N > &m1, const SO< N > &m2, double tol=1e-8) |
static void | Print (const SO< N > &m, const std::string &str="") |