Transformation.hpp File Reference

Header implementation file for the Transformation class. More...

Go to the source code of this file.

Namespaces
	okvis
	okvis Main namespace of this package.
	okvis::kinematics
	kinematics Namespace for kinematics functionality, i.e. transformations and stuff.

Functions
__inline__ double	okvis::kinematics::sinc (double x)
	Implements sin(x)/x for all x in R. More...
__inline__ Eigen::Quaterniond	okvis::kinematics::deltaQ (const Eigen::Vector3d &dAlpha)
	Implements the exponential map for quaternions. More...
__inline__ Eigen::Matrix3d	okvis::kinematics::rightJacobian (const Eigen::Vector3d &PhiVec)
	Right Jacobian, see Forster et al. RSS 2015 eqn. (8) More...

Detailed Description

Header implementation file for the Transformation class.

Author

Stefan Leutenegger