golib  0.5
Public Types | Public Member Functions | List of all members
goMath::SO3< T > Class Template Reference
Mathematics and numerics

Rotation group. More...

#include <gomanifold.h>

Public Types

typedef goMath::Matrix< T > Element
 
typedef goMath::Vector< T > Tangent
 
- Public Types inherited from goMath::Manifold< goMath::Matrix< T >, goMath::Vector< T > >
typedef goMath::Matrix< T > Element
 
typedef goMath::Vector< T > Tangent
 

Public Member Functions

virtual void exp (const Element &e, const Tangent &v, Element &ret)
 
virtual void log (const Element &e1, const Element &e2, Tangent &ret)
 Log map. More...
 
virtual goDouble innerProduct (const Element &e, const Tangent &v1, const Tangent &v2)
 
void matrix (const goMath::Vector< T > &w, goMath::Matrix< T > &ret)
 
void vector (const goMath::Matrix< T > &ret, goMath::Vector< T > &w)
 
- Public Member Functions inherited from goMath::Manifold< goMath::Matrix< T >, goMath::Vector< T > >
virtual goDouble d (const Element &e1, const Element &e2)
 

Detailed Description

template<class T>
class goMath::SO3< T >

Rotation group.

Examples
karchermean/km.cpp, and so3/so3.cpp.

Member Function Documentation

◆ log()

template<class T >
void goMath::SO3< T >::log ( const Element &  e1,
const Element &  e2,
Tangent &  ret 
)
virtual

Log map.

May not be optimal w.r.t. computation.

Parameters
e1
e2
ret

Implements goMath::Manifold< goMath::Matrix< T >, goMath::Vector< T > >.

The documentation for this class was generated from the following files: