template<typename _Scalar>

manif::internal::traits<SO3Tangent<_Scalar>> struct

Traits specialization.

Derived classes

template<typename _Scalar>

struct traits<Eigen::Map<SO3Tangent<_Scalar>, 0>>

traits specialization for Eigen Map

Public types

using Scalar = _Scalar

using LieGroup = SO3<_Scalar>

using Tangent = SO3Tangent<_Scalar>

using Base = SO3TangentBase<Tangent>

using DataType = Eigen::Matrix<Scalar, RepSize, 1>

using Jacobian = Eigen::Matrix<Scalar, DoF, DoF>

using LieAlg = Eigen::Matrix<Scalar, 3, 3>

Public static variables

static int Dim constexpr

static int DoF constexpr

static int RepSize constexpr