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20 template <
unsigned int n>
29 constexpr
static size_t DOFs = 3;
60 const double yaw,
const double pitch,
const double roll);
90 constexpr
static size_t DOFs = 1;
static tangent_vector log(const type &R)
SO(2) logarithm map .
static tangent_vector vee_RmRt(const type &R)
Returns vee(R-R'), which is an approximation to 2*vee(logmat(R)) for small rotations.
static type exp(const tangent_vector &x)
SO(2) exponential map .
static tangent_vector log(const type &R)
SO(3) logarithm map .
Traits for SO(n), rotations in R^n space.
static tang2mat_jacob jacob_dexpe_de(const tangent_vector &x)
Jacobian for exp().
static mat2tang_jacob jacob_dlogv_dv(const type &R)
Jacobian for log(), the identity matrix [ 1 ]
CMatrixFixed< double, 3, 9 > CMatrixDouble39
A compile-time fixed-size numeric matrix container.
static tang2mat_jacob jacob_dexpe_de(const tangent_vector &x)
Jacobian for exp(), the identity matrix [ 1 ]
static type exp(const tangent_vector &x)
SO(3) exponential map .
static mat2tang_jacob jacob_dlogv_dv(const type &R)
Jacobian for log() See 10.3.2 in .
static type fromYPR(const double yaw, const double pitch, const double roll)
Returns the 3x3 SO(3) rotation matrix from yaw, pitch, roll angles.
CMatrixFixed< double, 9, 3 > CMatrixDouble93
CMatrixFixed< double, 3, 3 > CMatrixDouble33
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