#include <SO3.h>

Inheritance diagram for gtsam::so3::ExpmapFunctor:

Public Member Functions
Matrix3	expmap () const
	Rodrigues formula. More...

	ExpmapFunctor (const Vector3 &axis, double angle)
	Constructor with axis-angle. More...

	ExpmapFunctor (const Vector3 &omega)
	Constructor with element of Lie algebra so(3) More...

	ExpmapFunctor (double nearZeroThresholdSq, const Vector3 &axis)
	Constructor with threshold (advanced) More...

Public Attributes
double	A

double	B

bool	nearZero { false }

const double	theta

const double	theta2

const Matrix3	W

const Matrix3	WW

Protected Member Functions
void	init (double nearZeroThresholdSq)

Detailed Description

Functor implementing Exponential map Math is based on Ethan Eade's elegant Lie group document, at https://www.ethaneade.org/lie.pdf.

Definition at line 137 of file SO3.h.

Constructor & Destructor Documentation

◆ ExpmapFunctor() [1/3]

gtsam::so3::ExpmapFunctor::ExpmapFunctor ( const Vector3 & omega )

explicit

Constructor with element of Lie algebra so(3)

Definition at line 93 of file SO3.cpp.

◆ ExpmapFunctor() [2/3]

gtsam::so3::ExpmapFunctor::ExpmapFunctor	(	double	nearZeroThresholdSq,
		const Vector3 &	axis
	)

Constructor with threshold (advanced)

Definition at line 95 of file SO3.cpp.

◆ ExpmapFunctor() [3/3]

gtsam::so3::ExpmapFunctor::ExpmapFunctor	(	const Vector3 &	axis,
		double	angle
	)

Constructor with axis-angle.

Definition at line 103 of file SO3.cpp.

Member Function Documentation

◆ expmap()

Matrix3 gtsam::so3::ExpmapFunctor::expmap ( ) const

Rodrigues formula.

Definition at line 112 of file SO3.cpp.

◆ init()

void gtsam::so3::ExpmapFunctor::init ( double nearZeroThresholdSq )

protected

Definition at line 75 of file SO3.cpp.

Member Data Documentation

◆ A

double gtsam::so3::ExpmapFunctor::A

Definition at line 143 of file SO3.h.

◆ B

double gtsam::so3::ExpmapFunctor::B

Definition at line 144 of file SO3.h.

◆ nearZero

bool gtsam::so3::ExpmapFunctor::nearZero { false }

Definition at line 140 of file SO3.h.

◆ theta

const double gtsam::so3::ExpmapFunctor::theta

Definition at line 138 of file SO3.h.

◆ theta2

const double gtsam::so3::ExpmapFunctor::theta2

Definition at line 138 of file SO3.h.

◆ W

const Matrix3 gtsam::so3::ExpmapFunctor::W

Definition at line 139 of file SO3.h.

◆ WW

const Matrix3 gtsam::so3::ExpmapFunctor::WW