rigidity_core/lie/
mod.rs

1//! The Lie groups `SO(3)` and `SE(3)`.
2//!
3//! Pose optimisation runs over the Lie algebra rather than over matrix
4//! entries: six free parameters instead of sixteen constrained ones, and
5//! the update `T ← exp(Δξ) · T` stays on the manifold by construction.
6//!
7//! Ordering convention: `ξ = [ρ; φ]` — translation first, then rotation.
8//! It runs through the whole project: the same order indexes the rows of
9//! the adjoint, the columns of the residual Jacobian and the degrees of
10//! freedom in the conditioning report. It cannot be changed in one place
11//! alone.
12
13mod align;
14mod jacobian;
15mod se3;
16mod series;
17mod so3;
18
19pub use align::absolute_orientation;
20pub use jacobian::{inverse_left_jacobian_so3, left_jacobian_so3};
21pub use se3::{Se3, hat_se3, vee_se3};
22pub use so3::{So3, hat, vee};
rigidity_core/lie/mod.rs

rigidity_core/lie/
mod.rs
