#include <mrpt/otherlibs/sophus/sim3.hpp>
Public Types | |
using | Scalar = Scalar_ |
using | Transformation = typename Base::Transformation |
using | Point = typename Base::Point |
using | Tangent = typename Base::Tangent |
using | Adjoint = typename Base::Adjoint |
using | RxSo3Member = RxSO3< Scalar, Options > |
using | TranslationMember = Vector3< Scalar, Options > |
using | TranslationType = typename Eigen::internal::traits< Sim3< Scalar_, Options > >::TranslationType |
using | RxSO3Type = typename Eigen::internal::traits< Sim3< Scalar_, Options > >::RxSO3Type |
using | QuaternionType = typename RxSO3Type::QuaternionType |
Static Public Member Functions | |
static SOPHUS_FUNC Tangent | log (Sim3< Scalar > const &other) |
static SOPHUS_FUNC Adjoint | d_lieBracketab_by_d_a (Tangent const &b) |
static SOPHUS_FUNC Sim3< Scalar > | exp (Tangent const &a) |
static SOPHUS_FUNC Transformation | generator (int i) |
static SOPHUS_FUNC Transformation | hat (Tangent const &a) |
static SOPHUS_FUNC Tangent | lieBracket (Tangent const &a, Tangent const &b) |
static SOPHUS_FUNC Tangent | vee (Transformation const &Omega) |
Static Public Attributes | |
static int constexpr | DoF |
static int constexpr | num_parameters |
static int constexpr | N |
Protected Attributes | |
RxSo3Member | rxso3_ |
TranslationMember | translation_ |
Private Types | |
using | Base = Sim3Base< Sim3< Scalar_, Options > > |
using Sophus::Sim3< Scalar_, Options >::Adjoint = typename Base::Adjoint |
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private |
using Sophus::Sim3< Scalar_, Options >::Point = typename Base::Point |
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inherited |
using Sophus::Sim3< Scalar_, Options >::RxSo3Member = RxSO3<Scalar, Options> |
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inherited |
using Sophus::Sim3< Scalar_, Options >::Scalar = Scalar_ |
using Sophus::Sim3< Scalar_, Options >::Tangent = typename Base::Tangent |
using Sophus::Sim3< Scalar_, Options >::Transformation = typename Base::Transformation |
using Sophus::Sim3< Scalar_, Options >::TranslationMember = Vector3<Scalar, Options> |
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inherited |
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Definition at line 563 of file sim3.hpp.
References exprtk::details::value().
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Definition at line 572 of file sim3.hpp.
References exprtk::details::value().
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inline |
Definition at line 586 of file sim3.hpp.
References exprtk::details::value().
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inlineinherited |
Definition at line 83 of file sim3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::hat().
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inlineinherited |
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inlinestaticinherited |
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inlinestaticinherited |
Definition at line 293 of file sim3.hpp.
References Sophus::Constants< Scalar >::epsilon(), Sophus::RxSO3Base< Derived >::expAndTheta(), Sophus::SO3Base< SO3< Scalar_, Options > >::hat(), and Sophus::RxSO3Base< Derived >::scale().
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inlinestaticinherited |
Definition at line 385 of file sim3.hpp.
References exprtk::details::numeric::constant::e, and SOPHUS_ENSURE.
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inlinestaticinherited |
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inlineinherited |
Definition at line 105 of file sim3.hpp.
References Sophus::RxSO3Base< Derived >::inverse().
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inlinestaticinherited |
Definition at line 422 of file sim3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::hat().
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inlineinherited |
Definition at line 114 of file sim3.hpp.
References Sophus::Sim3Base< Derived >::log().
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inlinestaticinherited |
Definition at line 450 of file sim3.hpp.
References Sophus::Constants< Scalar >::epsilon(), Sophus::SO3Base< SO3< Scalar_, Options > >::hat(), Sophus::RxSO3Base< Derived >::logAndTheta(), Sophus::Sim3< Scalar_, Options >::rxso3(), Sophus::Sim3Base< Sim3< Scalar_, Options > >::scale(), and Sophus::Sim3< Scalar_, Options >::translation().
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inlineinherited |
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Definition at line 178 of file sim3.hpp.
References Sophus::Sim3< Scalar_, Options >::rxso3(), and Sophus::Sim3< Scalar_, Options >::translation().
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inlineinherited |
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Definition at line 623 of file sim3.hpp.
Referenced by Sophus::interp_details::Traits< Sim3< Scalar > >::hasShortestPathAmbiguity(), Sophus::Sim3Base< Sim3< Scalar_, Options > >::log(), and Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator*=().
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Definition at line 218 of file sim3.hpp.
Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::log().
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Definition at line 631 of file sim3.hpp.
Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::log(), and Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator*=().
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