lm_rotations_ceres.inl File Reference

Autodiff-safe rotations for Levenberg-Marquardt kinematic optimizer. More...

Functions
template<typename T >
void	QuaternionProduct (const Quat< T > &z, const Quat< T > &w, Quat< T > &zw)
template<typename T >
void	UnitQuaternionRotatePoint (const Quat< T > &q, const Vec3< T > &pt, Vec3< T > &result)
template<typename T >
void	UnitQuaternionRotateAndScalePoint (const Quat< T > &q, const Vec3< T > &pt, const T scale, Vec3< T > &result)
template<typename T >
void	AngleAxisToQuaternion (const Vec3< T > angle_axis, Quat< T > &result)

Detailed Description

Autodiff-safe rotations for Levenberg-Marquardt kinematic optimizer.

Copied out of Ceres's rotation.h with some modifications.

Author

Kier Mierle kier@.nosp@m.goog.nosp@m.le.co.nosp@m.m

Sameer Agarwal samee.nosp@m.raga.nosp@m.rwal@.nosp@m.goog.nosp@m.le.co.nosp@m.m

Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m