void mrpt::math::jacobians::jacob_quat_from_yawpitchroll (mrpt::math::CMatrixFixedNumeric < double, 4, 3 > &out_dq_dr, const double yaw, const double pitch, const double roll)
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of: More...
void mrpt::math::jacobians::jacob_quat_from_yawpitchroll (mrpt::math::CMatrixFixedNumeric < double, 4, 3 > &out_dq_dr, const mrpt::poses::CPose3D &in_pose)
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of: More...
void mrpt::math::jacobians::jacob_yawpitchroll_from_quat (mrpt::math::CMatrixFixedNumeric < double, 3, 4 > &out_dr_dq)
Computes the 3x4 Jacobian of the transformation from a quaternion (qr qx qy qz) to 3D pose angles (yaw pitch roll). More...
template<class QUATERNION , class MATRIXLIKE >
void mrpt::math::jacobians::jacob_quat_rotation (const QUATERNION &quaternion, MATRIXLIKE &out_mat4x4)
Compute the Jacobian of the rotation composition operation , that is the 4x4 matrix . More...
void mrpt::math::jacobians::jacobs_6D_pose_comp (const mrpt::poses::CPose3D &x, const mrpt::poses::CPose3D &u, CMatrixDouble66 &out_df_dx, CMatrixDouble66 &out_df_du)
Given the 3D(6D) pose composition , compute the two 6x6 Jacobians and . More...
void mrpt::math::jacobians::jacobs_6D_pose_comp (const mrpt::poses::CPose3DQuat &x, const mrpt::poses::CPose3DQuat &u, CMatrixDouble77 &out_df_dx, CMatrixDouble77 &out_df_du)
Given the 3D(6D) pose composition , compute the two 6x6 Jacobians and . More...
void mrpt::math::jacobians::jacobs_2D_pose_comp (const mrpt::poses::CPosePDFGaussian &x, const mrpt::poses::CPosePDFGaussian &u, CMatrixDouble33 &out_df_dx, CMatrixDouble33 &out_df_du)
Given the 2D pose composition , compute the two 3x3 Jacobians and . More...
template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM >
void mrpt::math::jacobians::jacob_numeric_estimate (const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian)
Numerical estimation of the Jacobian of a user-supplied function - this template redirects to mrpt::math::estimateJacobian , see that function for documentation. More...