Class JacobianSo3Rodrigues

All Implemented Interfaces:

public class JacobianSo3Rodrigues extends Object implements JacobianSo3
Jacobian for 3-tuple encoded Rodrigues. The rotation magnitude is the F-norm of (X,Y,Z) and the axis of rotation is the normalized X,Y,Z.
See Also:
  • Constructor Details

    • JacobianSo3Rodrigues

      public JacobianSo3Rodrigues()
  • 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
    • 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
    • getParameterLength

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

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