Type Definition rtsam::geometry::so3::SO3

pub type SO3<T> = Rotation<T, 3_usize>;

A 3-dimensional rotation matrix.

Because this is an alias, not all its methods are listed here. See the Rotation type too.

Trait Implementations

impl LieGroup<f64> for SO3<f64>

type D = U3

fn between(&self, g: &Self) -> Self

fn adjoint_map(&self) -> MatrixN<f64, U3>

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

fn expmap(omega: &Vector3<f64>) -> Self

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

fn compose(&self, g: &Self) -> Self

impl Manifold for SO3<f64>

type TangentVector = Vector3<f64>

fn local(origin: &Self, other: &Self) -> Self::TangentVector

fn retract(origin: &Self, v: &Self::TangentVector) -> Self