API referenceC++ APIHoloscanFunctions

holoscan::pose3_exp

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template <typename K>
Pose3<K> holoscan::pose3_exp(
    const Vector6<K> &tangent
)

Exponential map of SE(3) which maps a tangent space element to the manifold space.

For SE(3) this function encodes the tangent space as a six-dimensional vector (px, py, pz, rx, ry, rz) where (px, py, pz) is the translation component and (rx, ry, rz) is the scaled rotation axis.

Returns: Pose on the SE(3) manifold.

Template parameters

K
typename

Scalar type.

Parameters

tangent
const Vector6<K> &

Tangent space vector (tx, ty, tz, rx, ry, rz).