Package boofcv.alg.geo.bundle.jacobians

Class JacobianSo3Quaternions

java.lang.Object

boofcv.alg.geo.bundle.jacobians.JacobianSo3Quaternions

All Implemented Interfaces:

JacobianSo3

public class JacobianSo3Quaternions
extends Object
implements JacobianSo3

Jacobian for 4-tuple encoded Quaternion (w,x,y,z).

Constructor Summary

Constructors

Constructor	Description
JacobianSo3Quaternions()

Method Summary

Modifier and Type	Method	Description
protected void	computeJacobians()
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)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

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

Parameters:

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