Struct sym::LieGroupOps< Rot3< Scalar > >

template<typename Scalar>
struct LieGroupOps<Rot3<Scalar>> : public sym::internal::LieGroupOpsBase<Rot3<Scalar>, Scalar>

C++ LieGroupOps implementation for <class ‘symforce.geo.rot3.Rot3’>.

Public Types

using T = Rot3<Scalar>

using TangentVec = Eigen::Matrix<Scalar, TangentDim(), 1>

Public Static Functions

static inline constexpr int32_t TangentDim()

static T FromTangent(const TangentVec &vec, const Scalar epsilon)

static TangentVec ToTangent(const T &a, const Scalar epsilon)

static T Retract(const T &a, const TangentVec &vec, const Scalar epsilon)

static TangentVec LocalCoordinates(const T &a, const T &b, const Scalar epsilon)

static T Interpolate(const T &a, const T &b, const Scalar alpha, const Scalar epsilon)