\brief transform int to float */

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

* @brief Convert the vector part of a quaternion to a * full quaternion. * @note This function is useful to convert delta quaternion * which

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)])``

Lie bracket It computes the Lie bracket of SE(2). To be more specific, it computes ``[omega_1, omega_2]_se2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of SO(3). To be more specific, it computes ``[omega_1, omega_2]_so3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(2). To be more specific, it computes ``[omega_1, omega_2]_sim2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(3). To be more specific, it computes ``[omega_1, omega_2]_sim3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It returns the Lie bracket of SO(2). Since SO(2) is a commutative group, the Lie bracket is simple ``0``.

Lie bracket It computes the Lie bracket of RxSO(2). To be more specific, it computes ``[omega_1, omega_2]_rxso2 := vee([hat(omega_1), hat(omega_2)])

Lie bracket It computes the Lie bracket of RxSO(3). To be more specific, it computes ``[omega_1, omega_2]_rxso3 := vee([hat(omega_1), hat(omega_2)])