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

Setter of non-zero complex number. Precondition: ``z`` must not be close to zero.

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

Sets ``so3`` using ``rotation_matrix``. Precondition: ``R`` must be orthogonal and ``det(R)=1``.

Setter of complex number using rotation matrix ``R``, leaves scale as is.

Setter of complex using rotation matrix ``R``, leaves scale as is. Precondition: ``R`` must be orthogonal with determinant of one.

Setter of quaternion using rotation matrix ``R``, leaves scale as is.

Setter of quaternion using rotation matrix ``R``, leaves scale as is.

Setter of SO(3) rotations, leaves scale as is.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Sets scale and leaves rotation as is.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Setter of complexnumber using scaled rotation matrix ``sR``. Precondition: The 2x2 matrix must be "scaled orthogonal" and have a positive determinant

Setter of complex number using scaled rotation matrix ``sR``. Precondition: The 2x2 matrix must be "scaled orthogonal" and have a positive determinan

Setter of quaternion using scaled rotation matrix ``sR``. Precondition: The 3x3 matrix must be "scaled orthogonal" and have a positive determinant.

Setter of quaternion using scaled rotation matrix ``sR``. Precondition: The 3x3 matrix must be "scaled orthogonal" and have a positive determinant.

* @brief Create a skew-symmetric matrix from a 3-element vector. * @note Performs the operation: * w -> [ 0 -w3 w2] * [ w3 0 -w1

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

Construct x-axis translation.

Construct x-axis translation.

Construct y-axis translation.

Construct y-axis translation.

Construct z-axis translation.

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding 3-vector representation of Lie algebra. This is the i

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding 4-vector representation of Lie algebra. This is the i

vee-operator It takes the 4x4-matrix representation ``Omega`` and maps it to the corresponding 7-vector representation of Lie algebra. This is the i

vee-operator It takes the 2x2-matrix representation ``Omega`` and maps it to the corresponding scalar representation of Lie algebra. This is the inv

vee-operator It takes the 2x2-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv

vee-operator It takes the 3x3-matrix representation ``Omega`` and maps it to the corresponding vector representation of Lie algebra. This is the inv