Class JacobianSo3Quaternions

All Implemented Interfaces:

public class JacobianSo3Quaternions extends Object implements JacobianSo3
Jacobian for 4-tuple encoded Quaternion (w,x,y,z).
  • Constructor Details

    • JacobianSo3Quaternions

      public JacobianSo3Quaternions()
  • Method Details

    • getParameters

      public void getParameters(DMatrixRMaj R, double[] parameters, int offset)
      Description copied from interface: JacobianSo3
      Converts the 3x3 rotation matrix into encoded parameters
      Specified by:
      getParameters in interface JacobianSo3
      R - 3x3 (Input) rotation matrix
      parameters - (Output) storage for encoded rotation matrix
      offset - index in parameters array
    • setParameters

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

      protected void computeJacobians()
    • getParameterLength

      public int getParameterLength()
      Specified by:
      getParameterLength in interface JacobianSo3
    • getRotationMatrix

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

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

      public JacobianSo3 newInstance()
      Description copied from interface: JacobianSo3
      Creates a new instance which is equivalent to 'this'. State is not copied.
      Specified by:
      newInstance in interface JacobianSo3