Modules
Enums
Enum for SO(3) element. SO(3) element can be expressed in three forms,i.e. in group, in algebra, and in vector.
Traits
a trait for transforming the SO(3) element from one form to another
Functions
SO(3) mapping algebra to group
SO(3) mapping vector to algebra
SO(3) get right jacobian matrix
SO(3) mapping group to algebra
SO(3) mapping algebra to vector