Classes | Functions
gtsam::so3 Namespace Reference

Classes

class  DexpFunctor
 Functor that implements Exponential map and its derivatives. More...
 
class  ExpmapFunctor
 Functor implementing Exponential map. More...
 

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...
 

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 44 of file SO3.cpp.

◆ Dcompose()

GTSAM_EXPORT Matrix99 gtsam::so3::Dcompose ( const SO3 Q)

(constant) Jacobian of compose wrpt M

Definition at line 35 of file SO3.cpp.



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autogenerated on Tue Jul 4 2023 02:47:26