This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

@brief Return knot with index i @param i index of the knot @return knot

@brief Resize containter with knots @param[in] n number of knots

It re-normalizes the SO3 element. Note: Because of the class invariant of SO3, there is typically no need to call this function directly.

@brief Maximum time represented by spline @return maximum time represented by spline

Copy constructor

@brief Minimum time represented by spline @return minimum time represented by spline

It re-normalizes ``unit_quaternion`` to unit length. Note: Because of the class invariant, there is typically no need to call this function directly.

Copy constructor

Lie bracket It computes the Lie bracket of SE(3). To be more specific, it computes ``[omega_1, omega_2]_se3 := vee([hat(omega_1), hat(omega_2)])``

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

@brief Number of knots in the spline

@brief Evaluate pose. @param[in] time time to evaluate pose in seconds @return SE(3) pose at time

Returns scale.

Adjoint transformation This function return the adjoint transformation ``Ad`` of the group element ``A`` such that for all ``x`` it holds that ``hat(

@brief Compute binomial coefficient. Computes number of combinations that include k objects out of n. @param[in] n @param[in] k @return binomial coef