Classes
class	DexpFunctor
	Functor that implements Exponential map and its derivatives. More...

class	ExpmapFunctor
	Functor implementing Exponential map. More...

Functions
GTSAM_EXPORT Matrix3	compose (const Matrix3 &M, const SO3 &R, OptionalJacobian< 9, 9 > H)

GTSAM_EXPORT Matrix99	Dcompose (const SO3 &R)
	(constant) Jacobian of compose wrpt M More...

Function Documentation

GTSAM_EXPORT Matrix3 gtsam::so3::compose	(	const Matrix3 &	M,
		const SO3 &	R,
		OptionalJacobian< 9, 9 >	H = `boost::none`
	)

Compose general matrix with an SO(3) element. We only provide the 9*9 derivative in the first argument M.

Definition at line 44 of file SO3.cpp.

GTSAM_EXPORT Matrix99 gtsam::so3::Dcompose ( const SO3 & Q )

(constant) Jacobian of compose wrpt M

Definition at line 35 of file SO3.cpp.

Classes