Group exponential This functions takes in an element of tangent space and returns the corresponding element of the group Sim(2). The first two compo

Group exponential This functions takes in an element of tangent space and returns the corresponding element of the group Sim(3). The first three com

As above, but also returns ``theta = |omega|``.

The constructor directly starts the timer.

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

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

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

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

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

Returns the ith infinitesimal generators of SE(3). The infinitesimal generators of SE(3) are: ``` | 0 0 0 1 | G_0 = | 0 0 0 0 | | 0 0 0

Returns the ith infinitesimal generators of SE(2). The infinitesimal generators of SE(2) are: ``` | 0 0 1 | G_0 = | 0 0 0 | | 0 0 0 | | 0

Returns the ith infinitesimal generators of SO(3). The infinitesimal generators of SO(3) are: ``` | 0 0 0 | G_0 = | 0 0 -1 | | 0 1 0 | | 0

Returns the ith infinitesimal generators of Sim(2). The infinitesimal generators of Sim(2) are: ``` | 0 0 1 | G_0 = | 0 0 0 | | 0 0 0 | |

Returns the ith infinitesimal generators of Sim(3). The infinitesimal generators of Sim(3) are: ``` | 0 0 0 1 | G_0 = | 0 0 0 0 | | 0 0 0

Returns the infinitesimal generators of SO(2). The infinitesimal generators of SO(2) is: | 0 1 | | -1 0 |

hat-operator It takes in the 6-vector representation (= twist) and returns the corresponding matrix representation of Lie algebra element. Formally,

hat-operator It takes in the 3-vector representation (= twist) and returns the corresponding matrix representation of Lie algebra element. Formally,

hat-operator It takes in the 3-vector representation ``omega`` (= rotation vector) and returns the corresponding matrix representation of Lie algebra

hat-operator It takes in the 4-vector representation and returns the corresponding matrix representation of Lie algebra element. Formally, the hat()

hat-operator It takes in the 7-vector representation and returns the corresponding matrix representation of Lie algebra element. Formally, the hat()

hat-operator It takes in the scalar representation ``theta`` (= rotation angle) and returns the corresponding matrix representation of Lie algebra el

Returns 3x3 matrix representation of the instance. For SO(3), the matrix representation is an orthogonal matrix ``R`` with ``det(R)=1``, thus the so-

Returns rotation matrix.

Returns rotation matrix.

Returns rotation angle.

Extract rotation angle about canonical X-axis

Extract rotation angle about canonical Y-axis

Extract rotation angle about canonical Z-axis

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

This provides unsafe read/write access to internal data. SO(2) is represented by a complex number (two parameters). When using direct write access, th

This provides unsafe read/write access to internal data. Sim(2) is represented by a complex number (two parameters) and a 2-vector. When using direct

This provides unsafe read/write access to internal data. Sim(3) is represented by an Eigen::Quaternion (four parameters) and a 3-vector. When using di

This provides unsafe read/write access to internal data. RxSO(2) is represented by a complex number (two parameters). When using direct write access,

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

This provides unsafe read/write access to internal data. SO(2) is represented by a unit complex number (two parameters). When using direct write acces

Transforms point from frame unit sphere (f) frame to world coordinate frame (w).