Class sym::Rot3#
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template<typename ScalarType>
class Rot3# Autogenerated C++ implementation of
symforce.geo.rot3.Rot3
.Group of three-dimensional orthogonal matrices with determinant
+1
, representing rotations in 3D space. Backed by a quaternion with (x, y, z, w) storage.Public Types
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using Scalar = ScalarType#
Public Functions
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inline Rot3()#
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inline Self InverseWithJacobian(SelfJacobian *const res_D_a = nullptr) const#
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inline Self ComposeWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const#
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inline Self BetweenWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const#
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inline TangentVec ToTangent(const Scalar epsilon = kDefaultEpsilon<Scalar>) const#
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inline Self Retract(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>) const#
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inline TangentVec LocalCoordinates(const Self &b, const Scalar epsilon = kDefaultEpsilon<Scalar>) const#
Public Static Functions
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static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)#
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static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)#
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static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)#
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static inline constexpr int32_t StorageDim()#
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static inline constexpr int32_t TangentDim()#
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static inline Self FromTangent(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
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using Scalar = ScalarType#