Template Struct SO3TangentBase

• Defined in File SO3Tangent_base.h

Inheritance Relationships

Base Type

• public manif::TangentBase< _Derived > (Template Struct TangentBase)

Struct Documentation

template<typename _Derived>
struct SO3TangentBase : public manif::TangentBase<_Derived>

The base class of the SO3 tangent.

Note

See Appendix B.

Public Types

using AngBlock = typename DataType::template FixedSegmentReturnType<3>::Type

using ConstAngBlock = typename DataType::template ConstFixedSegmentReturnType<3>::Type

Public Functions

DataType &coeffs()

Access the underlying data by reference.

const DataType &coeffs() const

Access the underlying data by const reference.

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(SO3TangentBase) public LieGroup exp (OptJacobianRef J_m_t={}) const

Hat operator of SO3.

Get the SO3 element.

Note

See example 3 of the paper.

Note

This is the exp() map with the argument in vector form.

Note

See Eq. (132) and Eq. (143).

Parameters:

-optional- – [out] J_m_t Jacobian of the SO3 element wrt this.

Returns:

An element of the Lie algebra so3 (skew-symmetric matrix).

Returns:

The SO3 element.

MANIF_DEPRECATED LieGroup retract (OptJacobianRef J_m_t={}) const

This function is deprecated. Please considere using exp instead.

Jacobian rjac() const

Get the right Jacobian of SO3.

Note

See Eq. (143).

Jacobian ljac() const

Get the left Jacobian of SO3.

Note

See Eq. (145).

Jacobian rjacinv() const

Get the inverse of the right Jacobian of SO3.

See also

rjac.

Note

See Eq. (144).

Jacobian ljacinv() const

Get the inverse of the left Jacobian of SO3.

See also

ljac.

Note

See Eq. (146).

Jacobian smallAdj() const

Returns:

Scalar x() const

Scalar y() const

Scalar z() const

AngBlock ang()

Get the angular part.

const ConstAngBlock ang() const

inline _Derived &derived() & noexcept

inline const _Derived &derived() const & noexcept