Class JacobianSo3Numerical

All Implemented Interfaces:

public abstract class JacobianSo3Numerical extends Object implements JacobianSo3
Implements a numerical Jacobian for the SO3
  • Constructor Details

    • JacobianSo3Numerical

      protected JacobianSo3Numerical()
  • Method Details

    • init

      public void init()
      Initializes data structures. Separate function to make it easier to extend the class
    • createNumericalAlgorithm

      protected FunctionNtoMxN<DMatrixRMaj> createNumericalAlgorithm(FunctionNtoM function)
      Creates numerical Jacobian algorithm. Override to change algorithm/settings
    • setParameters

      public void setParameters(double[] parameters, int offset)
      Specified by:
      setParameters in interface JacobianSo3
    • computeRotationMatrix

      public abstract void computeRotationMatrix(double[] parameters, int offset, DMatrixRMaj R)
      Computes rotation matrix given the parameters
    • getPartial

      public DMatrixRMaj getPartial(int param)
      Specified by:
      getPartial in interface JacobianSo3
    • getRotationMatrix

      public DMatrixRMaj getRotationMatrix()
      Specified by:
      getRotationMatrix in interface JacobianSo3