[−][src]Type Definition rtsam::geometry::se3::SE3

type SE3<N> = Isometry<N, U3, Unit<Quaternion<N>>>;

A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).

Trait Implementations

`impl LieGroup<f64> for SE3<f64>`[src]

`type D = U6`

`fn between(&self, g: &Self) -> Self`[src]

`fn adjoint_map(&self) -> MatrixN<f64, U6>`[src]

`fn logmap(P: &Self, optionalH: Option<&mut Matrix6<f64>>) -> Vector6<f64>`[src]

`fn expmap(xi: &Vector6<f64>) -> Self`[src]

`fn expmap_with_derivative( xi: &Vector6<f64>, optionalH: Option<&mut Matrix6<f64>> ) -> Self`[src]

Modified from Murray94book version (which assumes w and v normalized?)

`fn compose(&self, g: &Self) -> Self`[src]

`impl Manifold for SE3<f64>`[src]

`type TangentVector = Vector6<f64>`

`fn local(origin: &Self, other: &Self) -> Self::TangentVector`[src]

`fn retract(origin: &Self, v: &Self::TangentVector) -> Self`[src]