gtsam::so3 Namespace Reference

Classes
struct	DexpFunctor
struct	ExpmapFunctor

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...

Variables
static constexpr double	k1_4Pi = 0.25 * kPi_inv
static constexpr double	k1_Pi2 = 1.0 / kPi2
static constexpr double	k1_Pi3 = 1.0 / kPi3
static constexpr double	k2_Pi3 = 2.0 * k1_Pi3
static constexpr double	kNearPiThresholdSq = 1e-6
static constexpr double	kNearZeroThresholdSq = 1e-6
static constexpr double	kPi2 = M_PI * M_PI
static constexpr double	kPi3 = M_PI * kPi2
static constexpr double	kPi_inv = 1.0 / M_PI
static constexpr double	one_120th = 1.0 / 120.0
static constexpr double	one_1260th = 1.0 / 1260.0
static constexpr double	one_12th = 1.0 / 12.0
static constexpr double	one_180th = 1.0 / 180.0
static constexpr double	one_24th = 1.0 / 24.0
static constexpr double	one_60th = 1.0 / 60.0
static constexpr double	one_6th = 1.0 / 6.0
static constexpr double	one_720th = 1.0 / 720.0

Function Documentation

compose()

GTSAM_EXPORT Matrix3 gtsam::so3::compose	(	const Matrix3 &	M,
		const SO3 &	R,
		OptionalJacobian< 9, 9 >	H = {}
	)

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

Definition at line 68 of file SO3.cpp.

Dcompose()

GTSAM_EXPORT Matrix99 gtsam::so3::Dcompose

(

const SO3 &

Q

)

(constant) Jacobian of compose wrpt M

Definition at line 59 of file SO3.cpp.

Variable Documentation

k1_4Pi

constexpr double gtsam::so3::k1_4Pi = 0.25 * kPi_inv

staticconstexpr

Definition at line 51 of file SO3.cpp.

k1_Pi2

constexpr double gtsam::so3::k1_Pi2 = 1.0 / kPi2

staticconstexpr

Definition at line 47 of file SO3.cpp.

k1_Pi3

constexpr double gtsam::so3::k1_Pi3 = 1.0 / kPi3

staticconstexpr

Definition at line 49 of file SO3.cpp.

k2_Pi3

constexpr double gtsam::so3::k2_Pi3 = 2.0 * k1_Pi3

staticconstexpr

Definition at line 50 of file SO3.cpp.

kNearPiThresholdSq

constexpr double gtsam::so3::kNearPiThresholdSq = 1e-6

staticconstexpr

Definition at line 57 of file SO3.cpp.

kNearZeroThresholdSq

constexpr double gtsam::so3::kNearZeroThresholdSq = 1e-6

staticconstexpr

Definition at line 55 of file SO3.cpp.

kPi2

constexpr double gtsam::so3::kPi2 = M_PI * M_PI

staticconstexpr

Definition at line 46 of file SO3.cpp.

kPi3

constexpr double gtsam::so3::kPi3 = M_PI * kPi2

staticconstexpr

Definition at line 48 of file SO3.cpp.

kPi_inv

constexpr double gtsam::so3::kPi_inv = 1.0 / M_PI

staticconstexpr

Definition at line 45 of file SO3.cpp.

one_120th

constexpr double gtsam::so3::one_120th = 1.0 / 120.0

staticconstexpr

Definition at line 40 of file SO3.cpp.

one_1260th

constexpr double gtsam::so3::one_1260th = 1.0 / 1260.0

staticconstexpr

Definition at line 43 of file SO3.cpp.

one_12th

constexpr double gtsam::so3::one_12th = 1.0 / 12.0

staticconstexpr

Definition at line 37 of file SO3.cpp.

one_180th

constexpr double gtsam::so3::one_180th = 1.0 / 180.0

staticconstexpr

Definition at line 41 of file SO3.cpp.

one_24th

constexpr double gtsam::so3::one_24th = 1.0 / 24.0

staticconstexpr

Definition at line 38 of file SO3.cpp.

one_60th

constexpr double gtsam::so3::one_60th = 1.0 / 60.0

staticconstexpr

Definition at line 39 of file SO3.cpp.

one_6th

constexpr double gtsam::so3::one_6th = 1.0 / 6.0

staticconstexpr

Definition at line 36 of file SO3.cpp.

one_720th

constexpr double gtsam::so3::one_720th = 1.0 / 720.0

staticconstexpr

Definition at line 42 of file SO3.cpp.