API referenceC++ APIFunctions

holoscan::pose2_log

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template <typename K>
Vector3<K> holoscan::pose2_log(
    const Pose2<K> &pose
)

Logarithmic map from manifold to tangent space.

This computes the tangent for a pose relative to the identity pose. Log and exp are inverse to each other.

Returns: Tangent space vector (tx, ty, angle).

Template parameters

K
typename

Scalar type.

Parameters

pose
const Pose2<K> &

Pose on the SE(2) manifold.