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

AdjointMap

release/4.3a0
dellaert 2014-12-23 21:37:28 +01:00
parent 6d05069ef7
commit b9de4a6f47
2 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/geometry/Rot2.h
View File

@ -154,6 +154,9 @@ namespace gtsam {
/// @name Lie Group /// @name Lie Group
/// @{ /// @{
/** Calculate Adjoint map */
Matrix1 AdjointMap() const { return I_1x1; }
///Exponential map at identity - create a rotation from canonical coordinates ///Exponential map at identity - create a rotation from canonical coordinates
static Rot2 Expmap(const Vector& v, OptionalJacobian<1, 1> H = boost::none); static Rot2 Expmap(const Vector& v, OptionalJacobian<1, 1> H = boost::none);

3
gtsam/geometry/Rot3.h
View File

@ -307,6 +307,9 @@ namespace gtsam {
OptionalJacobian<3, 3> H2 = boost::none, Rot3::CoordinatesMode mode = OptionalJacobian<3, 3> H2 = boost::none, Rot3::CoordinatesMode mode =
ROT3_DEFAULT_COORDINATES_MODE) const; ROT3_DEFAULT_COORDINATES_MODE) const;
/** Calculate Adjoint map */
Matrix3 AdjointMap() const { return matrix(); }
/** /**
* 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.