Struct cv_core::Skew3

pub struct Skew3(pub Vector3<f64>);

Contains a member of the lie algebra so(3), a representation of the tangent space of 3d rotation. This is also known as the lie algebra of the 3d rotation group SO(3).

Methods

impl Skew3

pub fn rotation(self) -> Rotation3<f64>

Converts the Skew3 to a Rotation3 matrix.

pub fn vee(mat: Matrix3<f64>) -> Self

This converts a matrix in skew-symmetric form into a Skew3.

Warning: Does no check to ensure matrix is actually skew-symmetric.

pub fn hat(self) -> Matrix3<f64>

This converts the Skew3 into its skew-symmetric matrix form.

pub fn hat2(self) -> Matrix3<f64>

This converts the Skew3 into its squared skew-symmetric matrix form efficiently.

pub fn bracket(self, rhs: Self) -> Self

Computes the lie bracket [self, rhs].

pub fn jacobian_output_to_input(self) -> Matrix3<f64>

The jacobian of the output of a rotation in respect to the input of a rotation.

y = R * x

dy/dx = R

The formula is pretty simple and is just the rotation matrix created from the exponential map of this so(3) element into SO(3).

pub fn jacobian_output_to_self(y: Vector3<f64>) -> Matrix3<f64>

The jacobian of the output of a rotation in respect to the rotation itself.

y = R * x

dy/dR = -hat(y)

The derivative is purely based on the current output vector, and thus doesn't take self.

Trait Implementations

impl AbstractRotation<f64, U3> for Skew3

fn identity() -> Self

The rotation identity.

fn inverse(&self) -> Self

The rotation inverse.

fn inverse_mut(&mut self)

Change self to its inverse.

fn transform_vector(&self, v: &Vector3<f64>) -> Vector3<f64>

Apply the rotation to the given vector.

fn transform_point(&self, p: &Point3<f64>) -> Point3<f64>

Apply the rotation to the given point.

fn inverse_transform_vector(&self, v: &Vector3<f64>) -> Vector3<f64>

Apply the inverse rotation to the given vector.

fn inverse_transform_point(&self, p: &Point3<f64>) -> Point3<f64>

Apply the inverse rotation to the given point.

impl AsMut<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>> for Skew3

fn as_mut(&mut self) -> &mut Vector3<f64>

Performs the conversion.

impl AsRef<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>> for Skew3

fn as_ref(&self) -> &Vector3<f64>

Performs the conversion.

impl Clone for Skew3

fn clone(&self) -> Skew3

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Skew3

impl Debug for Skew3

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Deref for Skew3

type Target = Vector3<f64>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for Skew3

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl From<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>> for Skew3

fn from(original: Vector3<f64>) -> Skew3

Performs the conversion.

impl From<Rotation<f64, U3>> for Skew3

This is the log map.

fn from(r: Rotation3<f64>) -> Self

Performs the conversion.

impl From<Skew3> for Vector3<f64>

fn from(original: Skew3) -> Vector3<f64>

Performs the conversion.

impl From<Skew3> for Rotation3<f64>

This is the exponential map.

fn from(w: Skew3) -> Self

Performs the conversion.

impl Mul<Skew3> for Skew3

type Output = Self

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self

Performs the * operation.

impl MulAssign<Skew3> for Skew3

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq<Skew3> for Skew3

fn eq(&self, other: &Skew3) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Skew3) -> bool

This method tests for !=.

impl PartialOrd<Skew3> for Skew3

fn partial_cmp(&self, other: &Skew3) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Skew3) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Skew3) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Skew3) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Skew3) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for Skew3