#include <SO3.h>

Inheritance diagram for gtsam::so3::DexpFunctor:

Public Member Functions
Vector3	applyLeftJacobian (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with leftJacobian(), with optional derivatives. More...

Vector3	applyLeftJacobianInverse (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with leftJacobianInverse(), with optional derivatives. More...

Vector3	applyRightJacobian (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with rightJacobian(), with optional derivatives. More...

Vector3	applyRightJacobianInverse (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with rightJacobian().inverse(), with optional derivatives. More...

	DexpFunctor (const Vector3 &omega)
	Constructor with element of Lie algebra so(3) More...

	DexpFunctor (const Vector3 &omega, double nearZeroThresholdSq, double nearPiThresholdSq)
	Constructor with custom thresholds (advanced) More...

Matrix3	leftJacobian () const

Matrix3	leftJacobianInverse () const
	For \|omega\|>pi uses leftJacobian().inverse(), as unstable beyond pi! More...

Matrix3	rightJacobian () const

Matrix3	rightJacobianInverse () const

Public Member Functions inherited from gtsam::so3::ExpmapFunctor
Matrix3	expmap () const
	Rodrigues formula. More...

	ExpmapFunctor (const Vector3 &axis, double angle)
	Constructor with axis-angle. More...

	ExpmapFunctor (const Vector3 &omega)
	Constructor with element of Lie algebra so(3) More...

	ExpmapFunctor (double nearZeroThresholdSq, const Vector3 &axis)
	Constructor with threshold (advanced) More...

Public Attributes
double	C

double	D

double	E

double	F

const Vector3	omega

Public Attributes inherited from gtsam::so3::ExpmapFunctor
double	A

double	B

bool	nearZero { false }

const double	theta

const double	theta2

const Matrix3	W

const Matrix3	WW

Additional Inherited Members
Protected Member Functions inherited from gtsam::so3::ExpmapFunctor
void	init (double nearZeroThresholdSq)

Detailed Description

Functor that implements Exponential map and its derivatives Math extends Ethan theme of elegant I + aW + bWW expressions. See https://www.ethaneade.org/lie.pdf expmap (82) and left Jacobian (83).

Definition at line 165 of file SO3.h.

Constructor & Destructor Documentation

◆ DexpFunctor() [1/2]

gtsam::so3::DexpFunctor::DexpFunctor ( const Vector3 & omega )

explicit

Constructor with element of Lie algebra so(3)

Definition at line 144 of file SO3.cpp.

◆ DexpFunctor() [2/2]

gtsam::so3::DexpFunctor::DexpFunctor	(	const Vector3 &	omega,
		double	nearZeroThresholdSq,
		double	nearPiThresholdSq
	)

explicit

Constructor with custom thresholds (advanced)

Definition at line 114 of file SO3.cpp.

Member Function Documentation

◆ applyLeftJacobian()

Vector3 gtsam::so3::DexpFunctor::applyLeftJacobian	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Multiplies with leftJacobian(), with optional derivatives.

Definition at line 190 of file SO3.cpp.

◆ applyLeftJacobianInverse()

Vector3 gtsam::so3::DexpFunctor::applyLeftJacobianInverse	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Multiplies with leftJacobianInverse(), with optional derivatives.

Definition at line 209 of file SO3.cpp.

◆ applyRightJacobian()

Vector3 gtsam::so3::DexpFunctor::applyRightJacobian	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Multiplies with rightJacobian(), with optional derivatives.

Definition at line 158 of file SO3.cpp.

◆ applyRightJacobianInverse()

Vector3 gtsam::so3::DexpFunctor::applyRightJacobianInverse	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `{}`,
		OptionalJacobian< 3, 3 >	H2 = `{}`
	)		const

Multiplies with rightJacobian().inverse(), with optional derivatives.

Definition at line 177 of file SO3.cpp.

◆ leftJacobian()

Matrix3 gtsam::so3::DexpFunctor::leftJacobian ( ) const

inline

Definition at line 193 of file SO3.h.

◆ leftJacobianInverse()

Matrix3 gtsam::so3::DexpFunctor::leftJacobianInverse ( ) const

For |omega|>pi uses leftJacobian().inverse(), as unstable beyond pi!

Definition at line 152 of file SO3.cpp.

◆ rightJacobian()

Matrix3 gtsam::so3::DexpFunctor::rightJacobian ( ) const

inline

Definition at line 190 of file SO3.h.

◆ rightJacobianInverse()

Matrix3 gtsam::so3::DexpFunctor::rightJacobianInverse ( ) const

Inverse of right Jacobian For |omega|>pi uses rightJacobian().inverse(), as unstable beyond pi!

Definition at line 147 of file SO3.cpp.

Member Data Documentation

◆ C

double gtsam::so3::DexpFunctor::C

Definition at line 169 of file SO3.h.

◆ D

double gtsam::so3::DexpFunctor::D

Definition at line 172 of file SO3.h.

◆ E

double gtsam::so3::DexpFunctor::E

Definition at line 175 of file SO3.h.

◆ F

double gtsam::so3::DexpFunctor::F

Definition at line 176 of file SO3.h.

◆ omega

const Vector3 gtsam::so3::DexpFunctor::omega

Definition at line 166 of file SO3.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Additional Inherited Members