sophus.so3.So3 Class Reference

Public Member Functions
def	__getitem__ (self, key)
def	__init__ (self, q)
def	__mul__ (self, right)
def	__repr__ (self)
def	calc_Dx_exp_x_mul_this_at_0 (self, x)
def	calc_Dx_this_mul_exp_x_at_0 (self, x)
def	inverse (self)
def	log (self)
def	matrix (self)

Static Public Member Functions
def	calc_Dx_exp_x (x)
def	calc_Dx_exp_x_at_0 (x)
def	calc_Dxi_exp_x_matrix (x, i)
def	calc_Dxi_exp_x_matrix_at_0 (x, i)
def	calc_Dxi_x_matrix (x, i)
def	Dx_exp_x_at_0 ()
def	Dxi_exp_x_matrix (x, i)
def	Dxi_exp_x_matrix_at_0 (i)
def	Dxi_x_matrix (x, i)
def	exp (v)
def	hat (o)
def	vee (Omega)

Public Attributes
	q

Detailed Description

3 dimensional group of orthogonal matrices with determinant 1 

Definition at line 8 of file so3.py.

Constructor & Destructor Documentation

__init__()

def sophus.so3.So3.__init__	(		self,
			q
	)

internally represented by a unit quaternion q 

Definition at line 11 of file so3.py.

Member Function Documentation

__getitem__()

def sophus.so3.So3.__getitem__	(		self,
			key
	)

Definition at line 92 of file so3.py.

__mul__()

def sophus.so3.So3.__mul__	(		self,
			right
	)

left-multiplication
    either rotation concatenation or point-transform 

Definition at line 82 of file so3.py.

__repr__()

def sophus.so3.So3.__repr__

(

self

)

Definition at line 30 of file so3.py.

calc_Dx_exp_x()

def sophus.so3.So3.calc_Dx_exp_x (   x )

static

Definition at line 96 of file so3.py.

calc_Dx_exp_x_at_0()

def sophus.so3.So3.calc_Dx_exp_x_at_0 (   x )

static

Definition at line 108 of file so3.py.

calc_Dx_exp_x_mul_this_at_0()

def sophus.so3.So3.calc_Dx_exp_x_mul_this_at_0	(		self,
			x
	)

Definition at line 116 of file so3.py.

calc_Dx_this_mul_exp_x_at_0()

def sophus.so3.So3.calc_Dx_this_mul_exp_x_at_0	(		self,
			x
	)

Definition at line 111 of file so3.py.

calc_Dxi_exp_x_matrix()

def sophus.so3.So3.calc_Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 153 of file so3.py.

calc_Dxi_exp_x_matrix_at_0()

def sophus.so3.So3.calc_Dxi_exp_x_matrix_at_0 (   x,   i  )

static

Definition at line 164 of file so3.py.

calc_Dxi_x_matrix()

def sophus.so3.So3.calc_Dxi_x_matrix (   x,   i  )

static

Definition at line 141 of file so3.py.

Dx_exp_x_at_0()

def sophus.so3.So3.Dx_exp_x_at_0 ( )

static

Definition at line 101 of file so3.py.

Dxi_exp_x_matrix()

def sophus.so3.So3.Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 146 of file so3.py.

Dxi_exp_x_matrix_at_0()

def sophus.so3.So3.Dxi_exp_x_matrix_at_0 (   i )

static

Definition at line 158 of file so3.py.

Dxi_x_matrix()

def sophus.so3.So3.Dxi_x_matrix (   x,   i  )

static

Definition at line 122 of file so3.py.

exp()

def sophus.so3.So3.exp (   v )

static

exponential map 

Definition at line 16 of file so3.py.

hat()

def sophus.so3.So3.hat (   o )

static

Definition at line 37 of file so3.py.

inverse()

def sophus.so3.So3.inverse

(

self

)

Definition at line 33 of file so3.py.

log()

def sophus.so3.So3.log

(

self

)

logarithmic map

Definition at line 25 of file so3.py.

matrix()

def sophus.so3.So3.matrix

(

self

)

returns matrix representation 

Definition at line 60 of file so3.py.

vee()

def sophus.so3.So3.vee (   Omega )

static

Definition at line 56 of file so3.py.

Member Data Documentation

q

sophus.so3.So3.q

Definition at line 13 of file so3.py.

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

• so3.py