gtsam::so3::DexpFunctor Class Reference

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={}, OptionalJacobian< 3, 3 > H2={}) const
	Multiplies with dexp(), with optional derivatives. More...
GTSAM_EXPORT Vector3	applyInvDexp (const Vector3 &v, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) 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...

Private Attributes
double	a
double	b
Matrix3	dexp_
const Vector3	omega

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 157 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 90 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 101 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 120 of file SO3.cpp.

dexp()

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

inline

Definition at line 172 of file SO3.h.

Member Data Documentation

a

double gtsam::so3::DexpFunctor::a

private

Definition at line 159 of file SO3.h.

b

double gtsam::so3::DexpFunctor::b

private

Definition at line 159 of file SO3.h.

dexp_

Matrix3 gtsam::so3::DexpFunctor::dexp_

private

Definition at line 160 of file SO3.h.

omega

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

private

Definition at line 158 of file SO3.h.

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

• SO3.h
• SO3.cpp