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artivis / manif

A small C++11 header-only library for Lie theory.
https://artivis.github.io/manif
MIT License
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Minus operator of SE(3) in paper #279

Closed stefangachter closed 8 months ago

stefangachter commented 1 year ago

I am writing some unit tests based on formulas stated in the "Micro Lie Theory" paper: https://arxiv.org/pdf/1812.01537.pdf I have a question regarding example 7 on page 11. The minus operator of SE(3) is given by: image I am not sure how to read V1. First, I thought that it should be V1 derived of R1. But doing the computation, hopefully correctly, I conclude that it should be: image Thus, V is computed based on Log(R1^T*R2) and not on R1. Is my understanding correct?

joansola commented 8 months ago

Yes, it is V(theta).inv, with theta = R2 (-) R1 = Log(R1.T * R2)