Package boofcv.alg.geo.bundle.jacobians

Class JacobianSo3Rodrigues

java.lang.Object

boofcv.alg.geo.bundle.jacobians.JacobianSo3Rodrigues

All Implemented Interfaces:

JacobianSo3

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:

• RodriguesRotationJacobian_F64

Constructor Summary

Constructors

Constructor	Description
JacobianSo3Rodrigues()

Method Summary

Modifier and Type	Method	Description
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

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

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

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