23 #ifndef GTSAM_USE_QUATERNIONS 26 using namespace gtsam;
32 static
Point3 P(0.2, 0.7, -2.0);
37 Rot3 gR1 = Rot3::Rodrigues(0.1, 0.4, 0.2);
38 Rot3 gR2 = Rot3::Rodrigues(0.3, 0.1, 0.7);
Concept check for values that can be used in unit tests.
static int runAllTests(TestResult &result)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set origin
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
Rot3 retractCayley(const Vector &omega) const
Retraction from R^3 to Rot3 manifold using the Cayley transform.
static Point3 P(0.2, 0.7, -2.0)
Pose2_ Expmap(const Vector3_ &xi)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
#define GTSAM_CONCEPT_LIE_INST(T)
EIGEN_DEVICE_FUNC const InverseReturnType inverse() const
Vector3 localCayley(const Rot3 &other) const
Inverse of retractCayley.
TEST(Rot3, manifold_cayley)
#define GTSAM_CONCEPT_TESTABLE_INST(T)
3D rotation represented as a rotation matrix or quaternion