Rot3.h File Reference

3D rotation represented as a rotation matrix or quaternion More...

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Classes
class	gtsam::Rot3

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Macros
#define	ROT3_DEFAULT_COORDINATES_MODE   Rot3::CAYLEY

Typedefs
typedef Eigen::Quaternion < double, Eigen::DontAlign >	gtsam::Quaternion
	Typedef to an Eigen Quaternion<double>, we disable alignment because geometry objects are stored in boost pool allocators, in Values containers, and and these pool allocators do not support alignment. More...

Functions
pair< Matrix3, Vector3 >	gtsam::RQ (const Matrix3 &A)
	[RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx' such that A = R*Q = R*Qz'*Qy'*Qx'. More...

Detailed Description

3D rotation represented as a rotation matrix or quaternion

Author

Alireza Fathi

Christian Potthast

Frank Dellaert

Richard Roberts