Interface JacobianSo3

All Known Implementing Classes:
JacobianSo3Numerical, JacobianSo3Quaternions, JacobianSo3Rodrigues

public interface JacobianSo3
Generalized computation for jacobian of 3D rotation matrix
  • 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)