SO4.cpp File Reference

4*4 matrix representation of SO(4) More...

#include <gtsam/base/concepts.h>
#include <gtsam/base/timing.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/geometry/Unit3.h>
#include <Eigen/Eigenvalues>
#include <algorithm>
#include <cmath>
#include <iostream>
#include <random>
#include <vector>

Include dependency graph for SO4.cpp:

Go to the source code of this file.

Namespaces
	gtsam
	traits

Functions
static std::vector< Matrix4, Eigen::aligned_allocator< Matrix4 > >	gtsam::G4 ({SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))})
GTSAM_EXPORT Matrix43	gtsam::stiefel (const SO4 &Q, OptionalJacobian< 12, 6 > H)
GTSAM_EXPORT Matrix3	gtsam::topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H)
static SO4::VectorN2	gtsam::vec4 (const Matrix4 &Q)

Variables
static const Eigen::Matrix< double, 16, 6 >	gtsam::P4

Detailed Description

4*4 matrix representation of SO(4)

Author

Frank Dellaert

Luca Carlone

Definition in file SO4.cpp.