Left‐Invariant EKF on SO(3) with state‐dependent pitch/roll control and a single magnetometer update. More...

#include <gtsam/base/Matrix.h>
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/navigation/LieGroupEKF.h>
#include <iostream>

Include dependency graph for GEKF_Rot3Example.cpp:

Go to the source code of this file.

Functions
Vector3	dynamicsSO3 (const Rot3 &X, OptionalJacobian< 3, 3 > H={})

Vector3	h_mag (const Rot3 &X, OptionalJacobian< 3, 3 > H={})

static const Vector3	m_world (0, 0, -1)

int	main ()

Variables
static constexpr double	k = 0.5

Detailed Description

Left‐Invariant EKF on SO(3) with state‐dependent pitch/roll control and a single magnetometer update.

Date: April 25, 2025

Authors: Scott Baker, Matt Kielo, Frank Dellaert

Definition in file GEKF_Rot3Example.cpp.

Function Documentation

◆ dynamicsSO3()

Vector3 dynamicsSO3	(	const Rot3 &	X,
		OptionalJacobian< 3, 3 >	H = `{}`
	)

Definition at line 32 of file GEKF_Rot3Example.cpp.

◆ h_mag()

Vector3 h_mag	(	const Rot3 &	X,
		OptionalJacobian< 3, 3 >	H = `{}`
	)

Definition at line 46 of file GEKF_Rot3Example.cpp.

◆ m_world()

static const Vector3 m_world	(	0	,
		0	,
		-	1
	)

static

◆ main()

int main ( )

Definition at line 52 of file GEKF_Rot3Example.cpp.

Variable Documentation

◆ k

constexpr double k = 0.5

staticconstexpr

Definition at line 31 of file GEKF_Rot3Example.cpp.

Functions

Variables