orthogonal.h File Reference

#include "sophus/common/common.h"
#include <Eigen/Dense>
#include <Eigen/SVD>

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Namespaces
	sophus
	Image MutImage, owning images types.

Functions
template<class TD >
auto	sophus::isOrthogonal (Eigen::MatrixBase< TD > const &r) -> bool
	Takes in arbitrary square matrix and returns true if it is orthogonal. More...
template<class TD >
auto	sophus::isScaledOrthogonalAndPositive (Eigen::MatrixBase< TD > const &s_r) -> bool
	Takes in arbitrary square matrix and returns true if it is "scaled-orthogonal" with positive determinant. More...
template<class TD >
auto	sophus::makeRotationMatrix (Eigen::MatrixBase< TD > const &r) -> std::enable_if_t< std::is_floating_point< typename TD::Scalar >::value, Eigen::Matrix< typename TD::Scalar, TD::RowsAtCompileTime, TD::RowsAtCompileTime >>
	Takes in arbitrary square matrix (2x2 or larger) and returns closest orthogonal matrix with positive determinant. More...

Detailed Description

Rotation matrix helper functions.