Class Orientation3DLocalParameterization

Inheritance Relationships

Base Type

  • public fuse_core::LocalParameterization

Class Documentation

class Orientation3DLocalParameterization : public fuse_core::LocalParameterization

A LocalParameterization class for 3D Orientations.

3D orientations add and subtract nonlinearly. Additionally, the typcial 3D orientation representation is a quaternion, which has 4 degrees of freedom to parameterize a 3D space. This local parameterization uses the Rodrigues/angle-axis formulas to combine 3D rotations, along with the appropriate “analytic” derivatives.

Public Functions

inline virtual int GlobalSize() const override
inline virtual int LocalSize() const override
inline virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const override
inline virtual bool ComputeJacobian(const double *x, double *jacobian) const override
inline virtual bool Minus(const double *x, const double *y, double *y_minus_x) const override
inline virtual bool ComputeMinusJacobian(const double *x, double *jacobian) const override

Friends

friend class boost::serialization::access