gtsam::so3::DexpFunctor Struct Reference

#include <SO3.h>

Inheritance diagram for gtsam::so3::DexpFunctor:

Public Member Functions
Vector3	applyDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with dexp(), with optional derivatives. More...
Vector3	applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with dexp().inverse(), with optional derivatives. More...
Vector3	applyLeftJacobian (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with leftJacobian(), with optional derivatives. More...
Vector3	applyLeftJacobianInverse (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with leftJacobianInverse(), with optional derivatives. More...
Vector3	crossB (const Vector3 &v, OptionalJacobian< 3, 3 > H={}) const
	Computes B * (omega x v). More...
Matrix3	dexp () const
	Differential of expmap == right Jacobian. More...
	DexpFunctor (const Vector3 &omega, bool nearZeroApprox=false)
	Constructor with element of Lie algebra so(3) More...
Vector3	doubleCrossC (const Vector3 &v, OptionalJacobian< 3, 3 > H={}) const
	Computes C * (omega x (omega x v)). More...
Matrix3	invDexp () const
	Synonym for rightJacobianInverse. More...
Matrix3	leftJacobian () const
Matrix3	leftJacobianInverse () const
Matrix3	rightJacobian () const
Matrix3	rightJacobianInverse () const
	Inverse of right Jacobian. More...
Public Member Functions inherited from gtsam::so3::ExpmapFunctor
SO3	expmap () const
	Rodrigues formula. More...
	ExpmapFunctor (const Vector3 &axis, double angle, bool nearZeroApprox=false)
	Constructor with axis-angle. More...
	ExpmapFunctor (const Vector3 &omega, bool nearZeroApprox=false)
	Constructor with element of Lie algebra so(3) More...

Public Attributes
double	C
double	D
double	E
double	F
const Vector3	omega
Public Attributes inherited from gtsam::so3::ExpmapFunctor
double	A
double	B
bool	nearZero
const double	theta
const double	theta2
const Matrix3	W
const Matrix3	WW

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

Detailed Description

Functor that implements Exponential map and its derivatives Math extends Ethan theme of elegant I + aW + bWW expressions. See https://www.ethaneade.org/lie.pdf expmap (82) and left Jacobian (83).

Definition at line 162 of file SO3.h.

Constructor & Destructor Documentation

DexpFunctor()

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

explicit

Constructor with element of Lie algebra so(3)

Definition at line 97 of file SO3.cpp.

Member Function Documentation

applyDexp()

Vector3 gtsam::so3::DexpFunctor::applyDexp	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = {},
		OptionalJacobian< 3, 3 >	H2 = {}
	)		const

Multiplies with dexp(), with optional derivatives.

Definition at line 142 of file SO3.cpp.

applyInvDexp()

Vector3 gtsam::so3::DexpFunctor::applyInvDexp	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = {},
		OptionalJacobian< 3, 3 >	H2 = {}
	)		const

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

Definition at line 152 of file SO3.cpp.

applyLeftJacobian()

Vector3 gtsam::so3::DexpFunctor::applyLeftJacobian	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = {},
		OptionalJacobian< 3, 3 >	H2 = {}
	)		const

Multiplies with leftJacobian(), with optional derivatives.

Definition at line 165 of file SO3.cpp.

applyLeftJacobianInverse()

Vector3 gtsam::so3::DexpFunctor::applyLeftJacobianInverse	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H1 = {},
		OptionalJacobian< 3, 3 >	H2 = {}
	)		const

Multiplies with leftJacobianInverse(), with optional derivatives.

Definition at line 176 of file SO3.cpp.

crossB()

Vector3 gtsam::so3::DexpFunctor::crossB	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H = {}
	)		const

Computes B * (omega x v).

Definition at line 114 of file SO3.cpp.

dexp()

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

inline

Differential of expmap == right Jacobian.

Definition at line 190 of file SO3.h.

doubleCrossC()

Vector3 gtsam::so3::DexpFunctor::doubleCrossC	(	const Vector3 &	v,
		OptionalJacobian< 3, 3 >	H = {}
	)		const

Computes C * (omega x (omega x v)).

Definition at line 126 of file SO3.cpp.

invDexp()

Matrix3 gtsam::so3::DexpFunctor::invDexp ( ) const

inline

Synonym for rightJacobianInverse.

Definition at line 199 of file SO3.h.

leftJacobian()

Matrix3 gtsam::so3::DexpFunctor::leftJacobian ( ) const

inline

Definition at line 187 of file SO3.h.

leftJacobianInverse()

Matrix3 gtsam::so3::DexpFunctor::leftJacobianInverse ( ) const

inline

Definition at line 196 of file SO3.h.

rightJacobian()

Matrix3 gtsam::so3::DexpFunctor::rightJacobian ( ) const

inline

Definition at line 184 of file SO3.h.

rightJacobianInverse()

Matrix3 gtsam::so3::DexpFunctor::rightJacobianInverse ( ) const

inline

Inverse of right Jacobian.

Definition at line 193 of file SO3.h.

Member Data Documentation

C

double gtsam::so3::DexpFunctor::C

Definition at line 166 of file SO3.h.

D

double gtsam::so3::DexpFunctor::D

Definition at line 169 of file SO3.h.

E

double gtsam::so3::DexpFunctor::E

Definition at line 172 of file SO3.h.

F

double gtsam::so3::DexpFunctor::F

Definition at line 173 of file SO3.h.

omega

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

Definition at line 163 of file SO3.h.

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

• SO3.h
• SO3.cpp