Package boofcv.alg.geo.bundle.jacobians

Interface JacobianSo3

All Known Implementing Classes:

JacobianSo3Numerical, JacobianSo3Quaternions, JacobianSo3Rodrigues

public interface JacobianSo3

Generalized computation for jacobian of 3D rotation matrix

Method Summary

Modifier and Type	Method	Description
int	getParameterLength()
void	getParameters(DMatrixRMaj R, double[] parameters, int offset)	Converts the 3x3 rotation matrix into encoded parameters
DMatrixRMaj	getPartial(int param)
DMatrixRMaj	getRotationMatrix()
JacobianSo3	newInstance()	Creates a new instance which is equivalent to 'this'.
void	setParameters(double[] parameters, int offset)

Method Details

getParameters

void getParameters(DMatrixRMaj R,
 double[] parameters,
 int offset)

Converts the 3x3 rotation matrix into encoded parameters

Parameters:

R - 3x3 (Input) rotation matrix

parameters - (Output) storage for encoded rotation matrix

offset - index in parameters array

setParameters

void setParameters(double[] parameters,
 int offset)

getParameterLength

int getParameterLength()

getRotationMatrix

DMatrixRMaj getRotationMatrix()

getPartial

DMatrixRMaj getPartial(int param)

newInstance

JacobianSo3 newInstance()

Creates a new instance which is equivalent to 'this'. State is not copied.