API referenceC++ APIHoloscanFunctions

holoscan::pose3_log

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template <typename K>
Vector6<K> holoscan::pose3_log(
    const Pose3<K> &pose
)

Logarithmic map of SE(3) which maps a manifold space element to the 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, tz, rx, ry, rz).

Template parameters

K
typename

Scalar type.

Parameters

pose
const Pose3<K> &

Pose on the SE(3) manifold.