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LogmapDerivative == rightJacobianInverse

release/4.3a0
Frank Dellaert 2025-04-15 09:44:45 -04:00
parent b0fb28f087
commit ac6735bb4d
1 changed files with 5 additions and 19 deletions
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24
gtsam/geometry/SO3.cpp
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@ -250,13 +250,9 @@ Matrix3 SO3::AdjointMap() const {
template <> template <>
GTSAM_EXPORT GTSAM_EXPORT
SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) { SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) {
if (H) { so3::DexpFunctor local(omega);
so3::DexpFunctor local(omega); if (H) *H = local.dexp();
*H = local.dexp(); return SO3(local.expmap());
return SO3(local.expmap());
} else {
return SO3(so3::ExpmapFunctor(omega).expmap());
}
} }
template <> template <>
@ -279,18 +275,8 @@ Matrix3 SO3::ExpmapDerivative(const Vector3& omega) {
template <> template <>
GTSAM_EXPORT GTSAM_EXPORT
Matrix3 SO3::LogmapDerivative(const Vector3& omega) { Matrix3 SO3::LogmapDerivative(const Vector3& omega) {
using std::cos; const bool nearZero = (omega.dot(omega) <= 1e-5);
using std::sin; return so3::DexpFunctor(omega, nearZero).rightJacobianInverse();
double theta2 = omega.dot(omega);
if (theta2 <= std::numeric_limits<double>::epsilon()) return I_3x3;
double theta = std::sqrt(theta2); // rotation angle
// element of Lie algebra so(3): W = omega^
const Matrix3 W = Hat(omega);
return I_3x3 + 0.5 * W +
(1 / (theta * theta) - (1 + cos(theta)) / (2 * theta * sin(theta))) *
W * W;
} }
//****************************************************************************** //******************************************************************************