Static Public Member Functions | List of all members
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.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:10