12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

changed naming in comments about expmap & logmap jacobians

release/4.3a0
Luca 2014-12-08 16:27:57 -05:00
parent f991c1a398
commit 54ee973309
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
gtsam/geometry/Rot3.h
View File

@ -319,19 +319,19 @@ namespace gtsam {
/** /**
* Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in * Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
* expmap(thetahat + thetatilde) \approx expmap(thetahat) * expmap(Jr * thetatilde) * expmap(thetahat + omega) \approx expmap(thetahat) * expmap(Jr * omega)
* where Jr = rightJacobianExpMapSO3(thetahat); * where Jr = rightJacobianExpMapSO3(thetahat);
* This maps a perturbation in the tangent space (thetatilde) to * This maps a perturbation in the tangent space (omega) to
* a perturbation on the manifold (expmap(Jr * thetatilde)) * a perturbation on the manifold (expmap(Jr * omega))
*/ */
static Matrix3 rightJacobianExpMapSO3(const Vector3& x); static Matrix3 rightJacobianExpMapSO3(const Vector3& x);
/** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in /** Right Jacobian for Log map in SO(3) - equation (10.86) and following equations in
* G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008. * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
* logmap( Rhat * Rtilde) \approx logmap( Rhat ) + Jrinv * logmap( Rtilde ) * logmap( Rhat * expmap(omega) ) \approx logmap( Rhat ) + Jrinv * omega
* where Jrinv = rightJacobianExpMapSO3inverse(logmap( Rtilde )); * where Jrinv = rightJacobianExpMapSO3inverse(omega);
* This maps a perturbation on the manifold (Rtilde) * This maps a perturbation on the manifold (expmap(omega))
* to a perturbation in the tangent space (Jrinv * logmap( Rtilde )) * to a perturbation in the tangent space (Jrinv * omega)
*/ */
static Matrix3 rightJacobianExpMapSO3inverse(const Vector3& x); static Matrix3 rightJacobianExpMapSO3inverse(const Vector3& x);