gtsam::SO< N >::ChartAtOrigin Struct Reference

#include <SOn.h>

Static Public Member Functions
static TangentVector	Local (const SO &R, ChartJacobian H={})
static SO	Retract (const TangentVector &xi, ChartJacobian H={})

Detailed Description

template<int N>
struct gtsam::SO< N >::ChartAtOrigin

Definition at line 242 of file SOn.h.

Member Function Documentation

Local()

template<int N>

SO< N >::TangentVector gtsam::SO< N >::ChartAtOrigin::Local ( const SO &  R, ChartJacobian  H = {}  )

static

Inverse of Retract. See note about xi element order in Hat.

Definition at line 50 of file SOn-inl.h.

Retract()

template<int N>

SO< N > gtsam::SO< N >::ChartAtOrigin::Retract ( const TangentVector &  xi, ChartJacobian  H = {}  )

static

Retract uses Cayley map. See note about xi element order in Hat. Deafault implementation has no Jacobian implemented

Definition at line 40 of file SOn-inl.h.

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

• SOn.h
• SOn-inl.h