#include <mrpt/otherlibs/sophus/so3.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 | QuaternionMember = Eigen::Quaternion< Scalar, Options > |
using | QuaternionType = typename Eigen::internal::traits< SO3< Scalar_, Options > >::QuaternionType |
Static Public Member Functions | |
static SOPHUS_FUNC SO3 | rotX (Scalar const &x) |
static SOPHUS_FUNC SO3 | rotY (Scalar const &y) |
static SOPHUS_FUNC SO3 | rotZ (Scalar const &z) |
static SOPHUS_FUNC Tangent | log (SO3< Scalar > const &other) |
static SOPHUS_FUNC Adjoint | d_lieBracketab_by_d_a (Tangent const &b) |
static SOPHUS_FUNC SO3< Scalar > | exp (Tangent const &omega) |
static SOPHUS_FUNC SO3< Scalar > | expAndTheta (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 | logAndTheta (SO3< Scalar > const &other, Scalar *theta) |
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 Member Functions | |
SOPHUS_FUNC QuaternionMember & | unit_quaternion_nonconst () |
Protected Attributes | |
QuaternionMember | unit_quaternion_ |
Private Types | |
using | Base = SO3Base< SO3< Scalar_, Options > > |
Friends | |
class | SO3Base< SO3< Scalar, Options > > |
using Sophus::SO3< Scalar_, Options >::Adjoint = typename Base::Adjoint |
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private |
using Sophus::SO3< Scalar_, Options >::Point = typename Base::Point |
using Sophus::SO3< Scalar_, Options >::QuaternionMember = Eigen::Quaternion<Scalar, Options> |
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inherited |
using Sophus::SO3< Scalar_, Options >::Scalar = Scalar_ |
using Sophus::SO3< Scalar_, Options >::Tangent = typename Base::Tangent |
using Sophus::SO3< Scalar_, Options >::Transformation = typename Base::Transformation |
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inlinestaticinherited |
Definition at line 270 of file so3.hpp.
Referenced by Sophus::SO3< Scalar, Options >::rotX(), Sophus::SO3< Scalar, Options >::rotY(), and Sophus::SO3< Scalar, Options >::rotZ().
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inlinestaticinherited |
Definition at line 279 of file so3.hpp.
References SOPHUS_ENSURE.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::exp(), and Sophus::RxSO3Base< RxSO3< Scalar, Options > >::expAndTheta().
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inlinestaticinherited |
Definition at line 332 of file so3.hpp.
References exprtk::details::numeric::constant::e, and SOPHUS_ENSURE.
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inlinestaticinherited |
Definition at line 368 of file so3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::Adj(), Sophus::Sim3Base< Sim3< Scalar_, Options > >::Adj(), Sophus::SE3Base< SE3< Scalar_, Options > >::exp(), Sophus::Sim3Base< Sim3< Scalar_, Options > >::exp(), Sophus::Sim3Base< Sim3< Scalar_, Options > >::lieBracket(), Sophus::SE3Base< SE3< Scalar_, Options > >::log(), and Sophus::Sim3Base< Sim3< Scalar_, Options > >::log().
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Definition at line 344 of file so3.hpp.
References SOPHUS_ENSURE.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::internalGenerator().
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inlineinherited |
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Definition at line 414 of file so3.hpp.
References Sophus::Constants< Scalar >::epsilon(), Sophus::Constants< Scalar >::pi(), SOPHUS_ENSURE, and Sophus::SO3< Scalar_, Options >::unit_quaternion().
Referenced by Sophus::interp_details::Traits< SO3< Scalar > >::hasShortestPathAmbiguity().
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Definition at line 172 of file so3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::exp(), and Sophus::normalFromSO3().
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Definition at line 159 of file so3.hpp.
References SOPHUS_ENSURE, and Sophus::transpose().
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Definition at line 212 of file so3.hpp.
References Sophus::SO3< Scalar_, Options >::unit_quaternion().
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Definition at line 235 of file so3.hpp.
References normalize().
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Definition at line 554 of file so3.hpp.
Referenced by Sophus::details::getUnitQuaternion(), Sophus::SO3Base< SO3< Scalar_, Options > >::logAndTheta(), Sophus::SO3Base< SO3< Scalar_, Options > >::operator*=(), and Sophus::RxSO3Base< RxSO3< Scalar, Options > >::setSO3().
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