[−][src]Type Definition rtsam::geometry::so3::SO3

type SO3<N> = Rotation<N, U3>;

A 3-dimensional rotation matrix.

Trait Implementations

`impl LieGroup<f64> for SO3<f64>`[src]

`type D = U3`

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

`fn adjoint_map(&self) -> MatrixN<f64, U3>`[src]

`fn logmap(R: &Self, optionalH: Option<&mut Matrix3<f64>>) -> Vector3<f64>`[src]

`fn expmap(omega: &Vector3<f64>) -> Self`[src]

`fn expmap_with_derivative( omega: &Vector3<f64>, optionalH: Option<&mut Matrix3<f64>> ) -> Self`[src]

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

`impl Manifold for SO3<f64>`[src]

`type TangentVector = Vector3<f64>`

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

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