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GTSAM_EXPORT Vector3 | applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
| Multiplies with dexp(), with optional derivatives. More...
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GTSAM_EXPORT Vector3 | applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const |
| Multiplies with dexp().inverse(), with optional derivatives. More...
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const Matrix3 & | dexp () const |
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GTSAM_EXPORT | DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false) |
| Constructor with element of Lie algebra so(3) More...
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SO3 | expmap () const |
| Rodrigues formula. More...
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| ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false) |
| Constructor with axis-angle. More...
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| ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false) |
| Constructor with element of Lie algebra so(3) More...
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Functor that implements Exponential map and its derivatives.
Definition at line 157 of file SO3.h.