#include <Quaternion.h>
Public Types | |
typedef multiplicative_group_tag | group_flavor |
typedef QUATERNION_TYPE | ManifoldType |
typedef QUATERNION_TYPE | Q |
typedef lie_group_tag | structure_category |
Basic manifold traits | |
enum | { dimension = 3 } |
typedef OptionalJacobian< 3, 3 > | ChartJacobian |
typedef Eigen::Matrix< _Scalar, 3, 1, _Options, 3, 1 > | TangentVector |
Static Public Member Functions | |
Group traits | |
static Q | Identity () |
Lie group traits | |
static Q | Compose (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={}) |
static Q | Between (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={}) |
static Q | Inverse (const Q &g, ChartJacobian H={}) |
static Q | Expmap (const Eigen::Ref< const TangentVector > &omega, ChartJacobian H={}) |
Exponential map, using the inlined code from Eigen's conversion from axis/angle. More... | |
static TangentVector | Logmap (const Q &q, ChartJacobian H={}) |
We use our own Logmap, as there is a slight bug in Eigen. More... | |
Manifold traits | |
static TangentVector | Local (const Q &g, const Q &h, ChartJacobian H1={}, ChartJacobian H2={}) |
static Q | Retract (const Q &g, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) |
Testable | |
static void | Print (const Q &q, const std::string &str="") |
static bool | Equals (const Q &q1, const Q &q2, double tol=1e-8) |
Definition at line 32 of file geometry/Quaternion.h.
typedef OptionalJacobian<3, 3> gtsam::traits< QUATERNION_TYPE >::ChartJacobian |
Definition at line 51 of file geometry/Quaternion.h.
typedef multiplicative_group_tag gtsam::traits< QUATERNION_TYPE >::group_flavor |
Definition at line 37 of file geometry/Quaternion.h.
typedef QUATERNION_TYPE gtsam::traits< QUATERNION_TYPE >::ManifoldType |
Definition at line 33 of file geometry/Quaternion.h.
typedef QUATERNION_TYPE gtsam::traits< QUATERNION_TYPE >::Q |
Definition at line 34 of file geometry/Quaternion.h.
typedef lie_group_tag gtsam::traits< QUATERNION_TYPE >::structure_category |
Definition at line 36 of file geometry/Quaternion.h.
typedef Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1> gtsam::traits< QUATERNION_TYPE >::TangentVector |
Definition at line 52 of file geometry/Quaternion.h.
anonymous enum |
Enumerator | |
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dimension |
Definition at line 48 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 64 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 57 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 176 of file geometry/Quaternion.h.
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inlinestatic |
Exponential map, using the inlined code from Eigen's conversion from axis/angle.
Definition at line 79 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 41 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 72 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 147 of file geometry/Quaternion.h.
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inlinestatic |
We use our own Logmap, as there is a slight bug in Eigen.
Definition at line 98 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 169 of file geometry/Quaternion.h.
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inlinestatic |
Definition at line 157 of file geometry/Quaternion.h.