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Sophus::SE2Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::SE2Base< Derived >

Definition at line 54 of file se2.hpp.

#include <mrpt/otherlibs/sophus/se2.hpp>

Inheritance diagram for Sophus::SE2Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using TranslationType = typename Eigen::internal::traits< Derived >::TranslationType
 
using SO2Type = typename Eigen::internal::traits< Derived >::SO2Type
 
using Transformation = Matrix< Scalar, N, N >
 
using Point = Vector2< Scalar >
 
using Tangent = Vector< Scalar, DoF >
 
using Adjoint = Matrix< Scalar, DoF, DoF >
 

Public Member Functions

SOPHUS_FUNC Adjoint Adj () const
 
template<class NewScalarType >
SOPHUS_FUNC SE2< NewScalarType > cast () const
 
SOPHUS_FUNC SE2< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC void normalize ()
 Normalize SO2 element. More...
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 2, 3 > matrix2x3 () const
 
template<class OtherDerived >
SOPHUS_FUNC SE2Base< Derived > & operator= (SE2Base< OtherDerived > const &other)
 
SOPHUS_FUNC SE2< Scalaroperator* (SE2< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SE2Base< Derived > & operator*= (SE2< Scalar > const &other)
 
SOPHUS_FUNC Matrix< Scalar, 2, 2 > rotationMatrix () const
 
SOPHUS_FUNC void setComplex (Sophus::Vector2< Scalar > const &complex)
 
SOPHUS_FUNC void setRotationMatrix (Matrix< Scalar, 2, 2 > const &R)
 
SOPHUS_FUNC SO2Typeso2 ()
 
SOPHUS_FUNC SO2Type const & so2 () const
 
SOPHUS_FUNC TranslationTypetranslation ()
 
SOPHUS_FUNC TranslationType const & translation () const
 
SOPHUS_FUNC Eigen::internal::traits< Derived >::SO2Type::Complex const & unit_complex () const
 

Static Public Member Functions

static SOPHUS_FUNC Transformation d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC SE2< Scalarexp (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 log (SE2< Scalar > const &other)
 
static SOPHUS_FUNC Tangent vee (Transformation const &Omega)
 

Static Public Attributes

static int constexpr DoF = 3
 
static int constexpr num_parameters = 4
 
static int constexpr N = 3
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::SE2Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 72 of file se2.hpp.

◆ Point

template<class Derived>
using Sophus::SE2Base< Derived >::Point = Vector2<Scalar>

Definition at line 70 of file se2.hpp.

◆ Scalar

template<class Derived>
using Sophus::SE2Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 56 of file se2.hpp.

◆ SO2Type

template<class Derived>
using Sophus::SE2Base< Derived >::SO2Type = typename Eigen::internal::traits<Derived>::SO2Type

Definition at line 59 of file se2.hpp.

◆ Tangent

template<class Derived>
using Sophus::SE2Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 71 of file se2.hpp.

◆ Transformation

template<class Derived>
using Sophus::SE2Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 69 of file se2.hpp.

◆ TranslationType

template<class Derived>
using Sophus::SE2Base< Derived >::TranslationType = typename Eigen::internal::traits<Derived>::TranslationType

Definition at line 58 of file se2.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::SE2Base< Derived >::Adj ( ) const
inline

Definition at line 80 of file se2.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC SE2<NewScalarType> Sophus::SE2Base< Derived >::cast ( ) const
inline

Definition at line 93 of file se2.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SE2Base< Derived >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestatic

Definition at line 250 of file se2.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< Derived >::exp ( Tangent const &  a)
inlinestatic

Definition at line 273 of file se2.hpp.

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SE2Base< Derived >::generator ( int  i)
inlinestatic

Definition at line 312 of file se2.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SE2Base< Derived >::hat ( Tangent const &  a)
inlinestatic

Definition at line 331 of file se2.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< Derived >::inverse ( ) const
inline

Definition at line 100 of file se2.hpp.

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE2Base< Derived >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestatic

Definition at line 348 of file se2.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Tangent Sophus::SE2Base< Derived >::log ( ) const
inline

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE2Base< Derived >::log ( SE2< Scalar > const &  other)
inlinestatic

Definition at line 368 of file se2.hpp.

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::SE2Base< Derived >::matrix ( ) const
inline

Definition at line 128 of file se2.hpp.

◆ matrix2x3()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, 2, 3> Sophus::SE2Base< Derived >::matrix2x3 ( ) const
inline

Definition at line 138 of file se2.hpp.

◆ normalize()

template<class Derived>
SOPHUS_FUNC void Sophus::SE2Base< Derived >::normalize ( )
inline

Normalize SO2 element.

It re-normalizes the SO2 element.

Definition at line 116 of file se2.hpp.

◆ operator*() [1/2]

template<class Derived>
SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< Derived >::operator* ( SE2< Scalar > const &  other) const
inline

Definition at line 156 of file se2.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::SE2Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 170 of file se2.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC SE2Base<Derived>& Sophus::SE2Base< Derived >::operator*= ( SE2< Scalar > const &  other)
inline

Definition at line 176 of file se2.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC SE2Base<Derived>& Sophus::SE2Base< Derived >::operator= ( SE2Base< OtherDerived > const &  other)
inline

Definition at line 148 of file se2.hpp.

◆ rotationMatrix()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, 2, 2> Sophus::SE2Base< Derived >::rotationMatrix ( ) const
inline

Definition at line 184 of file se2.hpp.

◆ setComplex()

template<class Derived>
SOPHUS_FUNC void Sophus::SE2Base< Derived >::setComplex ( Sophus::Vector2< Scalar > const &  complex)
inline

Definition at line 192 of file se2.hpp.

◆ setRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::SE2Base< Derived >::setRotationMatrix ( Matrix< Scalar, 2, 2 > const &  R)
inline

Definition at line 200 of file se2.hpp.

◆ so2() [1/2]

template<class Derived>
SOPHUS_FUNC SO2Type& Sophus::SE2Base< Derived >::so2 ( )
inline

◆ so2() [2/2]

template<class Derived>
SOPHUS_FUNC SO2Type const& Sophus::SE2Base< Derived >::so2 ( ) const
inline

Definition at line 213 of file se2.hpp.

◆ translation() [1/2]

template<class Derived>
SOPHUS_FUNC TranslationType& Sophus::SE2Base< Derived >::translation ( )
inline

◆ translation() [2/2]

template<class Derived>
SOPHUS_FUNC TranslationType const& Sophus::SE2Base< Derived >::translation ( ) const
inline

Definition at line 227 of file se2.hpp.

◆ unit_complex()

template<class Derived>
SOPHUS_FUNC Eigen::internal::traits<Derived>::SO2Type::Complex const& Sophus::SE2Base< Derived >::unit_complex ( ) const
inline

Definition at line 235 of file se2.hpp.

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE2Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 404 of file se2.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::SE2Base< Derived >::DoF = 3
static

Definition at line 63 of file se2.hpp.

◆ N

template<class Derived>
int constexpr Sophus::SE2Base< Derived >::N = 3
static

Definition at line 68 of file se2.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::SE2Base< Derived >::num_parameters = 4
static

Definition at line 66 of file se2.hpp.




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