gtsam.examples.EqF.G Class Reference

Public Member Functions
def	__init__ (self, Rot3 A=Rot3.Identity(), np.ndarray a=np.zeros((3, 3)), List[Rot3] B=None)
"G"	__mul__ (self, "G" other)
"G"	exp (np.ndarray x)
"G"	inv (self)

Static Public Member Functions
def	identity (int n)
np.ndarray	Rot3LeftJacobian (np.ndarray arr)

Public Attributes
	A
	a
	B

Detailed Description

Symmetry group (SO(3) |x so(3)) x SO(3) x ... x SO(3)
----------
Each element of the B list is associated with a calibration states in State's S list where the association is done
via corresponding index. In general B[i] is the SO(3) element of the symmetry group that correspond to the
state's calibration state S[i]. For example, let's assume we want to use three known direction a, b, and c, where
only the sensor that measure b is uncalibrated (we'd like to estimate the calibration states). Therefore,
the system's d list is defined as d = [b, a, c], and the state's S list is defined as S = [Sb]. The symmetry group
B list should be defined as B = [Bb] where Ba is the SO(3) element of the symmetry group that is related to Sb
----------

Definition at line 160 of file EqF.py.

Constructor & Destructor Documentation

__init__()

def gtsam.examples.EqF.G.__init__	(		self,
		Rot3	A = Rot3.Identity(),
		np.ndarray	a = np.zeros((3, 3)),
		List[Rot3]	B = None
	)

Initialize the symmetry group G

:param A: SO3 element
:param a: np.ndarray with shape (3, 3) corresponding to a skew symmetric matrix
:param B: list of SO3 elements

Definition at line 176 of file EqF.py.

Member Function Documentation

__mul__()

"G" gtsam.examples.EqF.G.__mul__	(		self,
		"G"	other
	)

Define the group operation

:param other: G
:return: A element of the group G given by the "multiplication" of self and other

Definition at line 203 of file EqF.py.

exp()

"G" gtsam.examples.EqF.G.exp

(

np.ndarray

x

)

Return a group element X given by X = exp(x) where x is a numpy array

:param x: A numpy array
:return: A element of the group G given by the exponential of x

Definition at line 249 of file EqF.py.

identity()

def gtsam.examples.EqF.G.identity ( int  n )

static

Return the identity of the symmetry group with n elements of SO3 related to sensor calibration states

:param n: number of elements in list B associated with calibration states
:return: The identity of the group G

Definition at line 219 of file EqF.py.

inv()

"G" gtsam.examples.EqF.G.inv

(

self

)

Return the inverse element of the symmetry group

:return: A element of the group G given by the inverse of self

Definition at line 272 of file EqF.py.

Rot3LeftJacobian()

np.ndarray gtsam.examples.EqF.G.Rot3LeftJacobian ( np.ndarray  arr )

static

Return the SO(3) Left Jacobian
:param arr: A numpy array with size 3
:return: The left Jacobian of SO(3)

Definition at line 229 of file EqF.py.

Member Data Documentation

A

gtsam.examples.EqF.G.A

Definition at line 186 of file EqF.py.

a

gtsam.examples.EqF.G.a

Definition at line 189 of file EqF.py.

B

gtsam.examples.EqF.G.B

Definition at line 191 of file EqF.py.

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The documentation for this class was generated from the following file:

• EqF.py