template<typename _Scalar>
manif::SO3 struct

Represents an element of SO3.

Base classes

template<typename _Derived>
struct SO3Base<SO3<_Scalar>>
The base class of the SO3 group.

Constructors, destructors, conversion operators

SO3() defaulted
~SO3() defaulted
template<typename _DerivedOther>
SO3(const LieGroupBase<_DerivedOther>& o)
SO3(const QuaternionDataType& q)
Constructor given a unit quaternion.
SO3(const Scalar x, const Scalar y, const Scalar z, const Scalar w)
Constructor given the quaternion's coefficients.
SO3(const Eigen::AngleAxis<Scalar>& angle_axis)
Constructor given an angle axis.
SO3(const Scalar roll, const Scalar pitch, const Scalar yaw)
Constructor given Euler angles.

Public functions

auto coeffs() -> DataType&
auto coeffs() const -> const DataType&

Protected variables

DataType data_

Function documentation

template<typename _Scalar>
manif::SO3<_Scalar>::SO3(const QuaternionDataType& q)

Constructor given a unit quaternion.

Parameters
q in A unit quaternion.
Exceptions
manif::invalid_argument on un-normalized quaternion.

template<typename _Scalar>
manif::SO3<_Scalar>::SO3(const Scalar x, const Scalar y, const Scalar z, const Scalar w)

Constructor given the quaternion's coefficients.

Parameters
x in The x-components of a unit quaternion.
y in The x-components of a unit quaternion.
z in The x-components of a unit quaternion.
w in The x-components of a unit quaternion.
Exceptions
manif::invalid_argument on un-normalized quaternion.