Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
gtsam::so3::ExpmapFunctor Class Reference

Functor implementing Exponential map. More...

#include <SO3.h>

Inheritance diagram for gtsam::so3::ExpmapFunctor:
Inheritance graph
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Public Member Functions

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...
 

Protected Member Functions

void init (bool nearZeroApprox=false)
 

Protected Attributes

Matrix3 K
 
Matrix3 KK
 
bool nearZero
 
double one_minus_cos
 
double sin_theta
 
double theta
 
const double theta2
 
Matrix3 W
 

Detailed Description

Functor implementing Exponential map.

Definition at line 136 of file SO3.h.

Constructor & Destructor Documentation

◆ ExpmapFunctor() [1/2]

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

Constructor with element of Lie algebra so(3)

Definition at line 60 of file SO3.cpp.

◆ ExpmapFunctor() [2/2]

gtsam::so3::ExpmapFunctor::ExpmapFunctor ( const Vector3 axis,
double  angle,
bool  nearZeroApprox = false 
)

Constructor with axis-angle.

Definition at line 71 of file SO3.cpp.

Member Function Documentation

◆ expmap()

SO3 gtsam::so3::ExpmapFunctor::expmap ( ) const

Rodrigues formula.

Definition at line 83 of file SO3.cpp.

◆ init()

void gtsam::so3::ExpmapFunctor::init ( bool  nearZeroApprox = false)
protected

Definition at line 50 of file SO3.cpp.

Member Data Documentation

◆ K

Matrix3 gtsam::so3::ExpmapFunctor::K
protected

Definition at line 139 of file SO3.h.

◆ KK

Matrix3 gtsam::so3::ExpmapFunctor::KK
protected

Definition at line 139 of file SO3.h.

◆ nearZero

bool gtsam::so3::ExpmapFunctor::nearZero
protected

Definition at line 140 of file SO3.h.

◆ one_minus_cos

double gtsam::so3::ExpmapFunctor::one_minus_cos
protected

Definition at line 141 of file SO3.h.

◆ sin_theta

double gtsam::so3::ExpmapFunctor::sin_theta
protected

Definition at line 141 of file SO3.h.

◆ theta

double gtsam::so3::ExpmapFunctor::theta
protected

Definition at line 141 of file SO3.h.

◆ theta2

const double gtsam::so3::ExpmapFunctor::theta2
protected

Definition at line 138 of file SO3.h.

◆ W

Matrix3 gtsam::so3::ExpmapFunctor::W
protected

Definition at line 139 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