Public Member Functions | Private Attributes | List of all members
gtsam::so3::DexpFunctor Class Reference

Functor that implements Exponential map and its derivatives. More...

#include <SO3.h>

Inheritance diagram for gtsam::so3::DexpFunctor:
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Public Member Functions

GTSAM_EXPORT Vector3 applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
 Multiplies with dexp(), with optional derivatives. More...
 
GTSAM_EXPORT Vector3 applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
 Multiplies with dexp().inverse(), with optional derivatives. More...
 
const Matrix3 & dexp () const
 
GTSAM_EXPORT DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false)
 Constructor with element of Lie algebra so(3) More...
 
- Public Member Functions inherited from gtsam::so3::ExpmapFunctor
SO3 expmap () const
 Rodrigues formula. More...
 
 ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false)
 Constructor with element of Lie algebra so(3) More...
 
 ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false)
 Constructor with axis-angle. More...
 

Private Attributes

double a
 
double b
 
Matrix3 dexp_
 
const Vector3 omega
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::so3::ExpmapFunctor
void init (bool nearZeroApprox=false)
 
- Protected Attributes inherited from gtsam::so3::ExpmapFunctor
Matrix3 K
 
Matrix3 KK
 
bool nearZero
 
double one_minus_cos
 
double sin_theta
 
double theta
 
const double theta2
 
Matrix3 W
 

Detailed Description

Functor that implements Exponential map and its derivatives.

Definition at line 157 of file SO3.h.

Constructor & Destructor Documentation

◆ DexpFunctor()

gtsam::so3::DexpFunctor::DexpFunctor ( const Vector3 omega,
bool  nearZeroApprox = false 
)
explicit

Constructor with element of Lie algebra so(3)

Definition at line 90 of file SO3.cpp.

Member Function Documentation

◆ applyDexp()

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

Multiplies with dexp(), with optional derivatives.

Definition at line 101 of file SO3.cpp.

◆ applyInvDexp()

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

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

Definition at line 120 of file SO3.cpp.

◆ dexp()

const Matrix3& gtsam::so3::DexpFunctor::dexp ( ) const
inline

Definition at line 172 of file SO3.h.

Member Data Documentation

◆ a

double gtsam::so3::DexpFunctor::a
private

Definition at line 159 of file SO3.h.

◆ b

double gtsam::so3::DexpFunctor::b
private

Definition at line 159 of file SO3.h.

◆ dexp_

Matrix3 gtsam::so3::DexpFunctor::dexp_
private

Definition at line 160 of file SO3.h.

◆ omega

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

Definition at line 158 of file SO3.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:26