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NVIDIA Holoscan SDK v3.4.0

Template Function holoscan::pose2_exp

template<typename K>
Pose2<K> holoscan::pose2_exp(const Vector3<K> &tangent)

Exponential map from three-dimensional tangent space to SE(2) manifold space.

For SE(2) this function encodes the tangent space as a three-dimensional vector (tx, ty, a) where (tx, ty) is the translation component and a is the angle.

Template Parameters

K – Scalar type.

Parameters

tangent – Tangent space vector (tx, ty, angle).

Returns

Pose on the SE(2) manifold.

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