gtsam 4.2.0
gtsam
Loading...
Searching...
No Matches
Rot3.h File Reference

3D rotation represented as a rotation matrix or quaternion More...

Go to the source code of this file.

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'.
 

Detailed Description

3D rotation represented as a rotation matrix or quaternion

Author
Alireza Fathi
Christian Potthast
Frank Dellaert
Richard Roberts
Luca Carlone
Varun Agrawal