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26 #include <type_traits>
39 std::shared_ptr<Matrix>
G_;
47 using NoiseModelFactor2<SOn, SOn>::evaluateError;
57 const std::shared_ptr<Matrix> &
G =
nullptr);
65 print(
const std::string &
s,
70 double tol = 1
e-9)
const override;
N*N matrix representation of SO(N). N can be Eigen::Dynamic.
std::shared_ptr< Matrix > G_
matrix of vectorized generators
Matrix M_
measured rotation between R1 and R2
M1<< 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12;Map< MatrixXf > M2(M1.data(), 6, 2)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
3D rotation represented as a rotation matrix or quaternion
size_t pp_
dimensionality constants
void print(const Matrix &A, const string &s, ostream &stream)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
typename std::conditional< d==2, Rot2, Rot3 >::type Rot
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Non-linear factor base classes.
JacobiRotation< float > G
Matrix * OptionalMatrixType
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:13:18