Returns Rotation matrix

Returns Rotation matrix

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x.

Returns derivative of exp(x) wrt. x.

Returns derivative of exp(x) wrt. x.

< threshold on depth uncertainty for convergence.

Group exponential This functions takes in an element of tangent space (= twist ``a``) and returns the corresponding element of the group SE(2). The

Group exponential This functions takes in an element of tangent space (= twist ``a``) and returns the corresponding element of the group SE(3). The

Group exponential This functions takes in an element of tangent space (= rotation angle ``theta``) and returns the corresponding element of the group

Group exponential This functions takes in an element of tangent space (= rotation vector ``omega``) and returns the corresponding element of the grou

As above, but also returns ``theta = |omega|`` as out-parameter. Precondition: ``theta`` must not be ``nullptr``.