gtsam 4.2.0
gtsam
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Static Public Member Functions | |
static SO | Retract (const TangentVector &xi, ChartJacobian H=boost::none) |
Retract uses Cayley map. | |
static TangentVector | Local (const SO &R, ChartJacobian H=boost::none) |
Inverse of Retract. | |
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Inverse of Retract.
See note about xi element order in Hat.
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Retract uses Cayley map.
See note about xi element order in Hat. Deafault implementation has no Jacobian implemented