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NVIDIA Holoscan SDK v3.4.0

Template Function holoscan::pose3_exp

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.

Template Parameters

K – Scalar type.

Parameters

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

Returns

Pose on the SE(3) manifold.

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