Module visual_odometry_rs::math::se3

Lie algebra/group functions for 3D rigid body motion.

Interesting reads:

• Sophus c++ library: https://github.com/strasdat/Sophus
• Ethan Eade course on Lie Groups for 2D and 3D transformations:
  • details: http://ethaneade.com/lie.pdf
  • summary: http://ethaneade.com/lie_groups.pdf

Functions

angular_velocity	Retrieve the angular velocity part of the twist parameterization.
exp	Compute the exponential map from Lie algebra se3 to Lie group SE3. Goes from se3 parameterization to SE3 element (rigid body motion).
hat	Hat operator. Goes from se3 parameters to se3 element (4x4 matrix).
linear_velocity	Retrieve the linear velocity part of the twist parameterization.
log	Compute the logarithm map from the Lie group SE3 to the Lie algebra se3. Inverse of the exponential map.
vee	Vee operator. Inverse of hat operator. Warning! does not check that the given top left 3x3 sub-matrix is skew-symmetric.

Type Definitions

Twist

Parameterization of a twist (element of se3).