//?This?file?is?part?of?Sophus.
//
//?Copyright?2012?Hauke?Strasdat?（Imperial?College?London）
//
//?Permission?is?hereby?granted?free?of?charge?to?any?person?obtaining?a?copy
//?of?this?software?and?associated?documentation?files?（the?“Software“）?to
//?deal?in?the?Software?without?restriction?including?without?limitation?the
//?rights??to?use?copy?modify?merge?publish?distribute?sublicense?and/or
//?sell?copies?of?the?Software?and?to?permit?persons?to?whom?the?Software?is
//?furnished?to?do?so?subject?to?the?following?conditions:
//
//?The?above?copyright?notice?and?this?permission?notice?shall?be?included?in
//?all?copies?or?substantial?portions?of?the?Software.
//
//?THE?SOFTWARE?IS?PROVIDED?“AS?IS“?WITHOUT?WARRANTY?OF?ANY?KIND?EXPRESS?OR
//?IMPLIED?INCLUDING?BUT?NOT?LIMITED?TO?THE?WARRANTIES?OF?MERCHANTABILITY
//?FITNESS?FOR?A?PARTICULAR?PURPOSE?AND?NONINFRINGEMENT.?IN?NO?EVENT?SHALL?THE
//?AUTHORS?OR?COPYRIGHT?HOLDERS?BE?LIABLE?FOR?ANY?CLAIM?DAMAGES?OR?OTHER
//?LIABILITY?WHETHER?IN?AN?ACTION?OF?CONTRACT?TORT?OR?OTHERWISE?ARISING
//?FROM?OUT?OF?OR?IN?CONNECTION?WITH?THE?SOFTWARE?OR?THE?USE?OR?OTHER?DEALINGS
//?IN?THE?SOFTWARE.

#include?
#include?“scso3.h“

namespace?Sophus
{

ScSO3::ScSO3（）
{
??quaternion_.setIdentity（）;
}

ScSO3
::ScSO3（const?ScSO3?&?other）?:?quaternion_（other.quaternion_）?{}

ScSO3
::ScSO3（const?Matrix3d?&?scale_times_R）
{
??Matrix3d?squaredScaleMat?=?scale_times_R*scale_times_R.transpose（）;
??double?squaredScale
??????=（?1./3.）*（squaredScaleMat（00）
?????????????????+squaredScaleMat（11）
?????????????????+squaredScaleMat（22））;
??assert（squaredScale>0）;
??double?scale?=?sqrt（squaredScale）;

??quaternion_?=?scale_times_R/scale;
??quaternion_.coeffs（）?*=?scale;
}


ScSO3
::ScSO3（double?scale
????????const?Matrix3d?&?R）
{
??assert（scale>0）;
??quaternion_?=?R;
??quaternion_.normalize（）;
??quaternion_.coeffs（）?*=?scale;
}

ScSO3
::ScSO3（double?scale?const?SO3?&?so3）
{
??assert（scale>0）;
??quaternion_?=?so3.unit_quaternion（）;
??quaternion_.coeffs（）?*=?scale;
}

ScSO3
::ScSO3（const?Quaterniond?&?quat）?:?quaternion_（quat）?{}

void?ScSO3
::operator=（const?ScSO3?&?other）
{
??this->quaternion_?=?other.quaternion_;
}

ScSO3?ScSO3
::operator*（const?ScSO3&?other）?const
{
??ScSO3?result（*this）;
??result.quaternion_?*=?other.quaternion_;
??return?result;
}

void?ScSO3
::operator*=（const?ScSO3&?other）
{
??quaternion_?*=?other.quaternion_;
}

Vector3d?ScSO3
::operator*（const?Vector3d?&?xyz）?const
{
??//ToDO:?implement?this?directly!
??double?scale?=?quaternion（）.norm（）;
??Quaterniond?norm_quad?=?quaternion_;
??norm_quad.coeffs（）?/=?scale;
??return?scale*norm_quad._transformVector（xyz）;
}

ScSO3?ScSO3
::inverse（）?const
{
??assert（quaternion_.squaredNorm（）>0.）;
??return?ScSO3（quaternion（）.inverse（））;
}

Matrix3d?ScSO3
::matrix（）?const
{
??//ToDO:?implement?this?directly!
??double?scale?=?quaternion（）.norm（）;
??Quaterniond?norm_quad?=?quaternion_;
??norm_quad.coeffs（）?/=?scale;
??return?scale*norm_quad.toRotat

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????????66??2017-03-05?22:32??slambook-master\.gitignore

?????文件???14605482??2017-03-05?22:32??slambook-master\3rdparty\ceres-solver.tar.gz

?????文件????1243868??2017-03-05?22:32??slambook-master\3rdparty\DBow3.tar.gz

?????文件????8342066??2017-03-05?22:32??slambook-master\3rdparty\g2o.tar.gz

?????文件????3527776??2017-03-05?22:32??slambook-master\3rdparty\Pangolin.tar.gz

?????文件????????259??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\config

?????文件?????????73??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\description

?????文件?????????41??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\HEAD

?????文件????????452??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\applypatch-msg.sample

?????文件????????896??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\commit-msg.sample

?????文件????????189??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\post-update.sample

?????文件????????398??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\pre-applypatch.sample

?????文件???????1642??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\pre-commit.sample

?????文件???????1352??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\pre-push.sample

?????文件???????4898??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\pre-rebase.sample

?????文件???????1239??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\prepare-commit-msg.sample

?????文件???????3611??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\hooks\update.sample

?????文件???????1856??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\index

?????文件????????240??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\info\exclude

?????文件????????374??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\logs\HEAD

?????文件????????191??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\logs\refs\heads\master

?????文件????????191??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\logs\refs\remotes\origin\HEAD

?????文件??????20840??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\objects\pack\pack-8af7d0c082c2aba1075d410cd3cd9c8b987ecf83.idx

?????文件?????242441??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\objects\pack\pack-8af7d0c082c2aba1075d410cd3cd9c8b987ecf83.pack

?????文件????????242??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\packed-refs

?????文件?????????41??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\refs\heads\master

?????文件?????????32??2016-07-04?10:13??slambook-master\3rdparty\Sophus\.git\refs\remotes\origin\HEAD

?????文件???????2881??2016-07-04?10:13??slambook-master\3rdparty\Sophus\CMakeLists.txt

?????文件????????844??2016-07-04?10:13??slambook-master\3rdparty\Sophus\cmake_modules\FindEigen3.cmake

?????文件????????143??2016-07-04?10:13??slambook-master\3rdparty\Sophus\README

............此處省略377個文件信息