Header. More...

#include <osvr/Util/EigenCoreGeometry.h>

Classes
class	osvr::kalman::matrix_exponential_map::ExponentialMapData
	Contained cached computed values. More...

Namespaces
	osvr
	The main namespace for all C++ elements of the framework, internal and external.

	osvr::kalman
	Header-only framework for building Kalman-style filters, prediction, and sensor fusion.

	osvr::kalman::matrix_exponential_map
	Utilities for interacting with a "matrix exponential map vector" rotation parameterization/formalism, where rotation is represented as a 3D vector that is turned into a rotation matrix by applying Rodrigues' formula that resembles a matrix exponential.

Functions
template<typename Derived >
Eigen::Matrix3d	osvr::kalman::makeSkewSymmetrixCrossProductMatrix (Eigen::MatrixBase< Derived > const &v)
	Produces the "hat matrix" that produces the same result as performing a cross-product with v. More...

template<typename T >
void	osvr::kalman::matrix_exponential_map::avoidSingularities (T &&omega)
	Adjust a matrix exponential map rotation vector, if required, to avoid singularities. More...

template<typename Derived >
double	osvr::kalman::matrix_exponential_map::getAngle (Eigen::MatrixBase< Derived > const &omega)
	Gets the rotation angle of a rotation vector. More...

template<typename Derived >
Eigen::Quaterniond	osvr::kalman::matrix_exponential_map::getQuat (Eigen::MatrixBase< Derived > const &omega)
	Gets the unit quaternion corresponding to the exponential rotation vector. More...

Detailed Description

Header.

Classes