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static Q | Identity () |
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static Q | Compose (const Q &g, const Q &h, ChartJacobian Hg=boost::none, ChartJacobian Hh=boost::none) |
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static Q | Between (const Q &g, const Q &h, ChartJacobian Hg=boost::none, ChartJacobian Hh=boost::none) |
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static Q | Inverse (const Q &g, ChartJacobian H=boost::none) |
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static Q | Expmap (const Eigen::Ref< const TangentVector > &omega, ChartJacobian H=boost::none) |
| Exponential map, using the inlined code from Eigen's conversion from axis/angle.
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static TangentVector | Logmap (const Q &q, ChartJacobian H=boost::none) |
| We use our own Logmap, as there is a slight bug in Eigen.
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static TangentVector | Local (const Q &g, const Q &h, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none) |
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static Q | Retract (const Q &g, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none) |
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static void | Print (const Q &q, const std::string &str="") |
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static bool | Equals (const Q &q1, const Q &q2, double tol=1e-8) |
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typedef QUATERNION_TYPE | ManifoldType |
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typedef QUATERNION_TYPE | Q |
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typedef lie_group_tag | structure_category |
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typedef multiplicative_group_tag | group_flavor |
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enum | { dimension = 3
} |
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typedef OptionalJacobian< 3, 3 > | ChartJacobian |
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typedef Eigen::Matrix< _Scalar, 3, 1, _Options, 3, 1 > | TangentVector |
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The documentation for this struct was generated from the following file:
- /build/gtsam-pLU7ay/gtsam-4.2.0+dfsg/gtsam/geometry/Quaternion.h