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Sophus::SO3Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::SO3Base< Derived >

Definition at line 69 of file so3.hpp.

#include <mrpt/otherlibs/sophus/so3.hpp>

Inheritance diagram for Sophus::SO3Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using QuaternionType = typename Eigen::internal::traits< Derived >::QuaternionType
 
using Transformation = Matrix< Scalar, N, N >
 
using Point = Vector3< 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 SO3< NewScalarType > cast () const
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC Vector< Scalar, num_parametersinternalMultiplyByGenerator (int i) const
 
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoFinternalJacobian () const
 
SOPHUS_FUNC SO3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC void normalize ()
 
SOPHUS_FUNC Transformation matrix () const
 
template<class OtherDerived >
SOPHUS_FUNC SO3Base< Derived > & operator= (SO3Base< OtherDerived > const &other)
 
SOPHUS_FUNC SO3< Scalaroperator* (SO3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SO3Base< Derived > & operator*= (SO3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quaternion)
 
SOPHUS_FUNC QuaternionType const & unit_quaternion () const
 

Static Public Member Functions

static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC SO3< Scalarexp (Tangent const &omega)
 
static SOPHUS_FUNC SO3< ScalarexpAndTheta (Tangent const &omega, Scalar *theta)
 
static SOPHUS_FUNC Transformation generator (int i)
 
static SOPHUS_FUNC void internalGenerator (int i, Eigen::Quaternion< Scalar > *internal_gen_q)
 
static SOPHUS_FUNC Transformation hat (Tangent const &omega)
 
static SOPHUS_FUNC Tangent lieBracket (Tangent const &omega1, Tangent const &omega2)
 
static SOPHUS_FUNC Tangent log (SO3< Scalar > const &other)
 
static SOPHUS_FUNC Tangent logAndTheta (SO3< Scalar > const &other, Scalar *theta)
 
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
 

Private Member Functions

SOPHUS_FUNC QuaternionTypeunit_quaternion_nonconst ()
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::SO3Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 84 of file so3.hpp.

◆ Point

template<class Derived>
using Sophus::SO3Base< Derived >::Point = Vector3<Scalar>

Definition at line 82 of file so3.hpp.

◆ QuaternionType

template<class Derived>
using Sophus::SO3Base< Derived >::QuaternionType = typename Eigen::internal::traits<Derived>::QuaternionType

Definition at line 73 of file so3.hpp.

◆ Scalar

template<class Derived>
using Sophus::SO3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 71 of file so3.hpp.

◆ Tangent

template<class Derived>
using Sophus::SO3Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 83 of file so3.hpp.

◆ Transformation

template<class Derived>
using Sophus::SO3Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 81 of file so3.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::SO3Base< Derived >::Adj ( ) const
inline

Definition at line 94 of file so3.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC SO3<NewScalarType> Sophus::SO3Base< Derived >::cast ( ) const
inline

Definition at line 99 of file so3.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>
static SOPHUS_FUNC Adjoint Sophus::SO3Base< Derived >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestatic

Definition at line 257 of file so3.hpp.

◆ data() [1/2]

template<class Derived>
SOPHUS_FUNC Scalar* Sophus::SO3Base< Derived >::data ( )
inline

Definition at line 111 of file so3.hpp.

◆ data() [2/2]

template<class Derived>
SOPHUS_FUNC Scalar const* Sophus::SO3Base< Derived >::data ( ) const
inline

Definition at line 117 of file so3.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC SO3<Scalar> Sophus::SO3Base< Derived >::exp ( Tangent const &  omega)
inlinestatic

Definition at line 270 of file so3.hpp.

◆ expAndTheta()

template<class Derived>
static SOPHUS_FUNC SO3<Scalar> Sophus::SO3Base< Derived >::expAndTheta ( Tangent const &  omega,
Scalar theta 
)
inlinestatic

Definition at line 279 of file so3.hpp.

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SO3Base< Derived >::generator ( int  i)
inlinestatic

Definition at line 332 of file so3.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SO3Base< Derived >::hat ( Tangent const &  omega)
inlinestatic

Definition at line 368 of file so3.hpp.

◆ internalGenerator()

template<class Derived>
static SOPHUS_FUNC void Sophus::SO3Base< Derived >::internalGenerator ( int  i,
Eigen::Quaternion< Scalar > *  internal_gen_q 
)
inlinestatic

Definition at line 344 of file so3.hpp.

◆ internalJacobian()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Sophus::SO3Base< Derived >::internalJacobian ( ) const
inline

Definition at line 134 of file so3.hpp.

◆ internalMultiplyByGenerator()

template<class Derived>
SOPHUS_FUNC Vector<Scalar, num_parameters> Sophus::SO3Base< Derived >::internalMultiplyByGenerator ( int  i) const
inline

Definition at line 123 of file so3.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC SO3<Scalar> Sophus::SO3Base< Derived >::inverse ( ) const
inline

Definition at line 144 of file so3.hpp.

Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::inverse().

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO3Base< Derived >::lieBracket ( Tangent const &  omega1,
Tangent const &  omega2 
)
inlinestatic

Definition at line 392 of file so3.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Tangent Sophus::SO3Base< Derived >::log ( ) const
inline

Definition at line 152 of file so3.hpp.

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO3Base< Derived >::log ( SO3< Scalar > const &  other)
inlinestatic

Definition at line 407 of file so3.hpp.

◆ logAndTheta()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO3Base< Derived >::logAndTheta ( SO3< Scalar > const &  other,
Scalar theta 
)
inlinestatic

Definition at line 414 of file so3.hpp.

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::SO3Base< Derived >::matrix ( ) const
inline

Definition at line 172 of file so3.hpp.

◆ normalize()

template<class Derived>
SOPHUS_FUNC void Sophus::SO3Base< Derived >::normalize ( )
inline

Definition at line 159 of file so3.hpp.

◆ operator*() [1/2]

template<class Derived>
SOPHUS_FUNC SO3<Scalar> Sophus::SO3Base< Derived >::operator* ( SO3< Scalar > const &  other) const
inline

Definition at line 186 of file so3.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::SO3Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 206 of file so3.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC SO3Base<Derived>& Sophus::SO3Base< Derived >::operator*= ( SO3< Scalar > const &  other)
inline

Definition at line 212 of file so3.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC SO3Base<Derived>& Sophus::SO3Base< Derived >::operator= ( SO3Base< OtherDerived > const &  other)
inline

Definition at line 179 of file so3.hpp.

◆ setQuaternion()

template<class Derived>
SOPHUS_FUNC void Sophus::SO3Base< Derived >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quaternion)
inline

Definition at line 235 of file so3.hpp.

◆ unit_quaternion()

template<class Derived>
SOPHUS_FUNC QuaternionType const& Sophus::SO3Base< Derived >::unit_quaternion ( ) const
inline

Definition at line 242 of file so3.hpp.

Referenced by Sophus::SO3Base< SO3< Scalar_, Options > >::operator=().

◆ unit_quaternion_nonconst()

template<class Derived>
SOPHUS_FUNC QuaternionType& Sophus::SO3Base< Derived >::unit_quaternion_nonconst ( )
inlineprivate

Definition at line 480 of file so3.hpp.

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO3Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 471 of file so3.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::SO3Base< Derived >::DoF = 3
static

Definition at line 76 of file so3.hpp.

◆ N

template<class Derived>
int constexpr Sophus::SO3Base< Derived >::N = 3
static

Definition at line 80 of file so3.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::SO3Base< Derived >::num_parameters = 4
static

Definition at line 78 of file so3.hpp.




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