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include/manif/impl/sgal3/SGal3Tangent_base.h

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@@ -218,18 +218,18 @@ SGal3TangentBase<_Derived>::ljac() const {
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using std::sin;
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/** Structure of the left Jacobian according to J. Kelly
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*
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*
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* Jl = [ D -L*t N E*nu
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* 0 D M 0
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* 0 0 D 0
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* 0 0 0 1 ]
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*
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*
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* with N = N1 - N2.
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*
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*
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* Tangent space is tau = [rho ; nu ; theta ; t] in R^10
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*
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*
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* Matrix blocks D, E, L, M, N, N1, N2 are referred to in the comments and correspond to eqs. in Kelly's paper:
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*
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*
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* D: (18) = Jl_SO3(theta)
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* E: (19)
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* L: (32)
@@ -246,7 +246,7 @@ SGal3TangentBase<_Derived>::ljac() const {
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const Eigen::Map<const SO3Tangent<Scalar>> so3 = asSO3(); // theta vector
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// Blocks D
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Eigen::Matrix<Scalar,3,3> D = so3.ljac();
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Eigen::Matrix<Scalar,3,3> D = so3.ljac();
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Jl.template topLeftCorner<3, 3>() = D; // Block D
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Jl.template block<3, 3>(3, 3) = D; // Block D
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Jl.template block<3, 3>(6, 6) = D; // Block D
@@ -324,7 +324,7 @@ SGal3TangentBase<_Derived>::ljac() const {
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// Block 1
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Jl(9, 9) = Scalar(1);
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// Blocks of zeros
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// Blocks of zeros
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Jl.template bottomLeftCorner<7, 3>().setZero();
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Jl.template block<4, 3>(6, 3).setZero();
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Jl.template block<1, 3>(9, 6).setZero();

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