.. _file_sophus_so3.hpp:

File so3.hpp
============

|exhale_lsh| :ref:`Parent directory <dir_sophus>` (``sophus``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``sophus/so3.hpp``)
-------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_sophus_so3.hpp.rst



Detailed Description
--------------------

Special orthogonal group SO(3) - rotation in 3d. 




Includes
--------


- ``Eigen/src/Geometry/OrthoMethods.h``

- ``Eigen/src/Geometry/Quaternion.h``

- ``Eigen/src/Geometry/RotationBase.h``

- ``rotation_matrix.hpp`` (:ref:`file_sophus_rotation_matrix.hpp`)

- ``so2.hpp`` (:ref:`file_sophus_rxso2.hpp`)

- ``types.hpp`` (:ref:`file_sophus_types.hpp`)



Included By
-----------


- :ref:`file_sophus_average.hpp`

- :ref:`file_sophus_geometry.hpp`

- :ref:`file_sophus_interpolate_details.hpp`

- :ref:`file_sophus_rxso3.hpp`

- :ref:`file_sophus_se3.hpp`




Namespaces
----------


- :ref:`namespace_Eigen`

- :ref:`namespace_Eigen__internal`

- :ref:`namespace_Sophus`


Classes
-------


- :ref:`exhale_struct_structEigen_1_1internal_1_1traits_3_01Map_3_01Sophus_1_1SO3_3_01Scalar___01_4_01const_00_01Options___01_4_01_4`

- :ref:`exhale_struct_structEigen_1_1internal_1_1traits_3_01Map_3_01Sophus_1_1SO3_3_01Scalar___01_4_00_01Options___01_4_01_4`

- :ref:`exhale_struct_structEigen_1_1internal_1_1traits_3_01Sophus_1_1SO3_3_01Scalar___00_01Options___01_4_01_4`

- :ref:`exhale_struct_structSophus_1_1SO3Base_1_1TangentAndTheta`

- :ref:`exhale_class_classEigen_1_1Map_3_01Sophus_1_1SO3_3_01Scalar___01_4_01const_00_01Options_01_4`

- :ref:`exhale_class_classEigen_1_1Map_3_01Sophus_1_1SO3_3_01Scalar___01_4_00_01Options_01_4`

- :ref:`exhale_class_classSophus_1_1SO3`

- :ref:`exhale_class_classSophus_1_1SO3Base`


Typedefs
--------


- :ref:`exhale_typedef_so3_8hpp_1a72da343db3982b92fc93e8246bccd96c`

- :ref:`exhale_typedef_so3_8hpp_1ac6cb3128afa52b44fc475a8a887b6d47`