gtsam 4.2.0
gtsam
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3D rotation represented as a rotation matrix or quaternion More...
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Classes | |
class | gtsam::Rot3 |
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More... | |
struct | gtsam::Rot3::CayleyChart |
struct | gtsam::Rot3::ChartAtOrigin |
struct | gtsam::traits< Rot3 > |
struct | gtsam::traits< const Rot3 > |
Namespaces | |
namespace | gtsam |
Global functions in a separate testing namespace. | |
Macros | |
#define | ROT3_DEFAULT_COORDINATES_MODE Rot3::CAYLEY |
Typedefs | |
using | gtsam::Rot3Vector = std::vector< Rot3, Eigen::aligned_allocator< Rot3 > > |
std::vector of Rot3s, mainly for wrapper | |
Functions | |
pair< Matrix3, Vector3 > | gtsam::RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H=boost::none) |
[RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx' such that A = R*Q = R*Qz'*Qy'*Qx'. | |
3D rotation represented as a rotation matrix or quaternion