Functor that implements Exponential map and its derivatives. More...

#include <SO3.h>

Inheritance diagram for gtsam::so3::DexpFunctor:

Public Member Functions
GTSAM_EXPORT Vector3	applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Multiplies with dexp(), with optional derivatives. More...

GTSAM_EXPORT Vector3	applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Multiplies with dexp().inverse(), with optional derivatives. More...

const Matrix3 &	dexp () const

GTSAM_EXPORT	DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false)
	Constructor with element of Lie algebra so(3) More...

Public Member Functions inherited from gtsam::so3::ExpmapFunctor
SO3	expmap () const
	Rodrigues formula. More...

	ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false)
	Constructor with element of Lie algebra so(3) More...

	ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false)
	Constructor with axis-angle. More...

Additional Inherited Members
Protected Member Functions inherited from gtsam::so3::ExpmapFunctor
void	init (bool nearZeroApprox=false)

Protected Attributes inherited from gtsam::so3::ExpmapFunctor
Matrix3	K

Matrix3	KK

bool	nearZero

double	one_minus_cos

double	sin_theta

double	theta

const double	theta2

Matrix3	W

Detailed Description

Functor that implements Exponential map and its derivatives.

Definition at line 155 of file SO3.h.

Constructor & Destructor Documentation

gtsam::so3::DexpFunctor::DexpFunctor	(	const Vector3 &	omega,
		bool	nearZeroApprox = `false`
	)

explicit

Constructor with element of Lie algebra so(3)

Definition at line 90 of file SO3.cpp.

Vector3 gtsam::so3::DexpFunctor::applyDexp	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `boost::none`,
		OptionalJacobian< 3, 3 >	H2 = `boost::none`
	)		const

Multiplies with dexp(), with optional derivatives.

Definition at line 101 of file SO3.cpp.

Vector3 gtsam::so3::DexpFunctor::applyInvDexp	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = `boost::none`,
		OptionalJacobian< 3, 3 >	H2 = `boost::none`
	)		const

Multiplies with dexp().inverse(), with optional derivatives.

Definition at line 120 of file SO3.cpp.

const Matrix3& gtsam::so3::DexpFunctor::dexp ( ) const

inline

Definition at line 170 of file SO3.h.

double gtsam::so3::DexpFunctor::a

private

Definition at line 157 of file SO3.h.

double gtsam::so3::DexpFunctor::b

private

Definition at line 157 of file SO3.h.

Matrix3 gtsam::so3::DexpFunctor::dexp_

private

Definition at line 158 of file SO3.h.

const Vector3 gtsam::so3::DexpFunctor::omega

private

Definition at line 156 of file SO3.h.

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