template<typename _Derived>
manif::SO3TangentBase struct

The base class of the SO3 tangent.

Base classes

template<class _Derived> struct TangentBase<_Derived>: Base class for Lie groups' tangents. Defines the minimum common API.

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

auto hat() const -> LieAlg: Hat operator of SO3.
auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup: Get the SO3 element.
auto retract(OptJacobianRef J_m_t = {}) const -> MANIF_DEPRECATED LieGroup: This function is deprecated. Please considere using exp instead.
auto rjac() const -> Jacobian
auto ljac() const -> Jacobian
auto rjacinv() const -> Jacobian
auto ljacinv() const -> Jacobian
auto x() const -> Scalar
auto y() const -> Scalar
auto z() const -> Scalar
auto ang() -> AngBlock: Get the angular part.
auto ang() const -> const ConstAngBlock
auto coeffs() -> DataType&: Access the underlying data by reference.
auto coeffs() const -> const DataType&: Access the underlying data by const reference.

Hat operator of SO3.

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

Get the SO3 element.

Returns	The SO3 element.

Get the right Jacobian of SO3.

Get the left Jacobian of SO3.

Get the inverse of the right Jacobian of SO3.

Get the inverse of the left Jacobian of SO3.