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Sophus::SO2Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::SO2Base< Derived >

Definition at line 72 of file so2.hpp.

#include <mrpt/otherlibs/sophus/so2.hpp>

Inheritance diagram for Sophus::SO2Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using Complex = typename Eigen::internal::traits< Derived >::ComplexType
 
using Transformation = Matrix< Scalar, N, N >
 
using Point = Vector2< Scalar >
 
using Tangent = Scalar
 
using Adjoint = Scalar
 

Public Member Functions

SOPHUS_FUNC Adjoint Adj () const
 
template<class NewScalarType >
SOPHUS_FUNC SO2< NewScalarType > cast () const
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC SO2< Scalarinverse () const
 
SOPHUS_FUNC Scalar log () const
 
SOPHUS_FUNC void normalize ()
 
SOPHUS_FUNC Transformation matrix () const
 
template<class OtherDerived >
SOPHUS_FUNC SO2Base< Derived > & operator= (SO2Base< OtherDerived > const &other)
 
SOPHUS_FUNC SO2< Scalaroperator* (SO2< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SO2Base< Derived > operator*= (SO2< Scalar > const &other)
 
SOPHUS_FUNC void setComplex (Point const &complex)
 
SOPHUS_FUNC Complex const & unit_complex () const
 

Static Public Member Functions

static SOPHUS_FUNC SO2< Scalarexp (Tangent const &theta)
 
static SOPHUS_FUNC Transformation generator ()
 
static SOPHUS_FUNC Transformation hat (Tangent const &theta)
 
static SOPHUS_FUNC Tangent lieBracket (Tangent const &, Tangent const &)
 
static SOPHUS_FUNC Tangent log (SO2< Scalar > const &other)
 
static SOPHUS_FUNC Tangent vee (Transformation const &Omega)
 

Static Public Attributes

static int constexpr DoF = 1
 
static int constexpr num_parameters = 2
 
static int constexpr N = 2
 

Private Member Functions

SOPHUS_FUNC Complexunit_complex_nonconst ()
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::SO2Base< Derived >::Adjoint = Scalar

Definition at line 87 of file so2.hpp.

◆ Complex

template<class Derived>
using Sophus::SO2Base< Derived >::Complex = typename Eigen::internal::traits<Derived>::ComplexType

Definition at line 75 of file so2.hpp.

◆ Point

template<class Derived>
using Sophus::SO2Base< Derived >::Point = Vector2<Scalar>

Definition at line 85 of file so2.hpp.

◆ Scalar

template<class Derived>
using Sophus::SO2Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 74 of file so2.hpp.

◆ Tangent

template<class Derived>
using Sophus::SO2Base< Derived >::Tangent = Scalar

Definition at line 86 of file so2.hpp.

◆ Transformation

template<class Derived>
using Sophus::SO2Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 84 of file so2.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::SO2Base< Derived >::Adj ( ) const
inline

Definition at line 97 of file so2.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC SO2<NewScalarType> Sophus::SO2Base< Derived >::cast ( ) const
inline

Definition at line 102 of file so2.hpp.

◆ data() [1/2]

template<class Derived>
SOPHUS_FUNC Scalar* Sophus::SO2Base< Derived >::data ( )
inline

Definition at line 111 of file so2.hpp.

◆ data() [2/2]

template<class Derived>
SOPHUS_FUNC Scalar const* Sophus::SO2Base< Derived >::data ( ) const
inline

Definition at line 115 of file so2.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< Derived >::exp ( Tangent const &  theta)
inlinestatic

Definition at line 241 of file so2.hpp.

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SO2Base< Derived >::generator ( )
inlinestatic

Definition at line 252 of file so2.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SO2Base< Derived >::hat ( Tangent const &  theta)
inlinestatic

Definition at line 267 of file so2.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< Derived >::inverse ( ) const
inline

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO2Base< Derived >::lieBracket ( Tangent const &  ,
Tangent const &   
)
inlinestatic

Definition at line 282 of file so2.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Scalar Sophus::SO2Base< Derived >::log ( ) const
inline

Definition at line 127 of file so2.hpp.

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO2Base< Derived >::log ( SO2< Scalar > const &  other)
inlinestatic

Definition at line 296 of file so2.hpp.

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::SO2Base< Derived >::matrix ( ) const
inline

Definition at line 148 of file so2.hpp.

◆ normalize()

template<class Derived>
SOPHUS_FUNC void Sophus::SO2Base< Derived >::normalize ( )
inline

Definition at line 134 of file so2.hpp.

◆ operator*() [1/2]

template<class Derived>
SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< Derived >::operator* ( SO2< Scalar > const &  other) const
inline

Definition at line 170 of file so2.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::SO2Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 181 of file so2.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC SO2Base<Derived> Sophus::SO2Base< Derived >::operator*= ( SO2< Scalar > const &  other)
inline

Definition at line 189 of file so2.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC SO2Base<Derived>& Sophus::SO2Base< Derived >::operator= ( SO2Base< OtherDerived > const &  other)
inline

Definition at line 163 of file so2.hpp.

◆ setComplex()

template<class Derived>
SOPHUS_FUNC void Sophus::SO2Base< Derived >::setComplex ( Point const &  complex)
inline

Definition at line 216 of file so2.hpp.

◆ unit_complex()

template<class Derived>
SOPHUS_FUNC Complex const& Sophus::SO2Base< Derived >::unit_complex ( ) const
inline

Definition at line 224 of file so2.hpp.

Referenced by Sophus::SO2Base< SO2< Scalar, Options > >::operator=().

◆ unit_complex_nonconst()

template<class Derived>
SOPHUS_FUNC Complex& Sophus::SO2Base< Derived >::unit_complex_nonconst ( )
inlineprivate

Definition at line 323 of file so2.hpp.

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SO2Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 313 of file so2.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::SO2Base< Derived >::DoF = 1
static

Definition at line 79 of file so2.hpp.

◆ N

template<class Derived>
int constexpr Sophus::SO2Base< Derived >::N = 2
static

Definition at line 83 of file so2.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::SO2Base< Derived >::num_parameters = 2
static

Definition at line 81 of file so2.hpp.




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