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Sophus::SE3Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::SE3Base< Derived >

Definition at line 55 of file se3.hpp.

#include <mrpt/otherlibs/sophus/se3.hpp>

Inheritance diagram for Sophus::SE3Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using TranslationType = typename Eigen::internal::traits< Derived >::TranslationType
 
using SO3Type = typename Eigen::internal::traits< Derived >::SO3Type
 
using QuaternionType = typename SO3Type::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 SE3< NewScalarType > cast () const
 
SOPHUS_FUNC Vector< Scalar, num_parametersinternalMultiplyByGenerator (int i) const
 
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoFinternalJacobian () const
 
SOPHUS_FUNC SE3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC void normalize ()
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 3, 4 > matrix3x4 () const
 
template<class OtherDerived >
SOPHUS_FUNC SE3Base< Derived > & operator= (SE3Base< OtherDerived > const &other)
 
SOPHUS_FUNC SE3< Scalaroperator* (SE3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SE3Base< Derived > & operator*= (SE3< Scalar > const &other)
 
SOPHUS_FUNC Matrix3< ScalarrotationMatrix () const
 
SOPHUS_FUNC SO3Typeso3 ()
 
SOPHUS_FUNC SO3Type const & so3 () const
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC void setRotationMatrix (Matrix3< Scalar > const &rotation_matrix)
 
SOPHUS_FUNC TranslationTypetranslation ()
 
SOPHUS_FUNC TranslationType const & translation () const
 
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 SE3< Scalarexp (Tangent const &a)
 
static SOPHUS_FUNC Transformation generator (int i)
 
static SOPHUS_FUNC void internalGenerator (int i, Eigen::Quaternion< Scalar > *internal_gen_q, Vector3< Scalar > *internal_gen_t)
 
static SOPHUS_FUNC Transformation hat (Tangent const &a)
 
static SOPHUS_FUNC Tangent lieBracket (Tangent const &a, Tangent const &b)
 
static SOPHUS_FUNC Tangent log (SE3< Scalar > const &se3)
 
static SOPHUS_FUNC Tangent vee (Transformation const &Omega)
 

Static Public Attributes

static int constexpr DoF = 6
 
static int constexpr num_parameters = 7
 
static int constexpr N = 4
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::SE3Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 73 of file se3.hpp.

◆ Point

template<class Derived>
using Sophus::SE3Base< Derived >::Point = Vector3<Scalar>

Definition at line 71 of file se3.hpp.

◆ QuaternionType

template<class Derived>
using Sophus::SE3Base< Derived >::QuaternionType = typename SO3Type::QuaternionType

Definition at line 61 of file se3.hpp.

◆ Scalar

template<class Derived>
using Sophus::SE3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 57 of file se3.hpp.

◆ SO3Type

template<class Derived>
using Sophus::SE3Base< Derived >::SO3Type = typename Eigen::internal::traits<Derived>::SO3Type

Definition at line 60 of file se3.hpp.

◆ Tangent

template<class Derived>
using Sophus::SE3Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 72 of file se3.hpp.

◆ Transformation

template<class Derived>
using Sophus::SE3Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 70 of file se3.hpp.

◆ TranslationType

template<class Derived>
using Sophus::SE3Base< Derived >::TranslationType = typename Eigen::internal::traits<Derived>::TranslationType

Definition at line 59 of file se3.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::SE3Base< Derived >::Adj ( ) const
inline

Definition at line 80 of file se3.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC SE3<NewScalarType> Sophus::SE3Base< Derived >::cast ( ) const
inline

Definition at line 93 of file se3.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>
static SOPHUS_FUNC Adjoint Sophus::SE3Base< Derived >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestatic

Definition at line 268 of file se3.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::exp ( Tangent const &  a)
inlinestatic

Definition at line 293 of file se3.hpp.

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::generator ( int  i)
inlinestatic

Definition at line 352 of file se3.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::hat ( Tangent const &  a)
inlinestatic

Definition at line 394 of file se3.hpp.

◆ internalGenerator()

template<class Derived>
static SOPHUS_FUNC void Sophus::SE3Base< Derived >::internalGenerator ( int  i,
Eigen::Quaternion< Scalar > *  internal_gen_q,
Vector3< Scalar > *  internal_gen_t 
)
inlinestatic

Definition at line 364 of file se3.hpp.

◆ internalJacobian()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Sophus::SE3Base< Derived >::internalJacobian ( ) const
inline

Definition at line 117 of file se3.hpp.

◆ internalMultiplyByGenerator()

template<class Derived>
SOPHUS_FUNC Vector<Scalar, num_parameters> Sophus::SE3Base< Derived >::internalMultiplyByGenerator ( int  i) const
inline

Definition at line 100 of file se3.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::inverse ( ) const
inline

Definition at line 127 of file se3.hpp.

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestatic

Definition at line 412 of file se3.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::log ( ) const
inline

Definition at line 136 of file se3.hpp.

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

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::log ( SE3< Scalar > const &  se3)
inlinestatic

Definition at line 435 of file se3.hpp.

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::matrix ( ) const
inline

Definition at line 155 of file se3.hpp.

◆ matrix3x4()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::SE3Base< Derived >::matrix3x4 ( ) const
inline

Definition at line 165 of file se3.hpp.

◆ normalize()

template<class Derived>
SOPHUS_FUNC void Sophus::SE3Base< Derived >::normalize ( )
inline

Definition at line 143 of file se3.hpp.

◆ operator*() [1/2]

template<class Derived>
SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::operator* ( SE3< Scalar > const &  other) const
inline

Definition at line 183 of file se3.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::SE3Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 197 of file se3.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC SE3Base<Derived>& Sophus::SE3Base< Derived >::operator*= ( SE3< Scalar > const &  other)
inline

Definition at line 203 of file se3.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC SE3Base<Derived>& Sophus::SE3Base< Derived >::operator= ( SE3Base< OtherDerived > const &  other)
inline

Definition at line 175 of file se3.hpp.

◆ rotationMatrix()

template<class Derived>
SOPHUS_FUNC Matrix3<Scalar> Sophus::SE3Base< Derived >::rotationMatrix ( ) const
inline

Definition at line 211 of file se3.hpp.

◆ setQuaternion()

template<class Derived>
SOPHUS_FUNC void Sophus::SE3Base< Derived >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inline

Definition at line 227 of file se3.hpp.

◆ setRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::SE3Base< Derived >::setRotationMatrix ( Matrix3< Scalar > const &  rotation_matrix)
inline

Definition at line 235 of file se3.hpp.

◆ so3() [1/2]

template<class Derived>
SOPHUS_FUNC SO3Type& Sophus::SE3Base< Derived >::so3 ( )
inline

◆ so3() [2/2]

template<class Derived>
SOPHUS_FUNC SO3Type const& Sophus::SE3Base< Derived >::so3 ( ) const
inline

Definition at line 219 of file se3.hpp.

◆ translation() [1/2]

template<class Derived>
SOPHUS_FUNC TranslationType& Sophus::SE3Base< Derived >::translation ( )
inline

Definition at line 241 of file se3.hpp.

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

◆ translation() [2/2]

template<class Derived>
SOPHUS_FUNC TranslationType const& Sophus::SE3Base< Derived >::translation ( ) const
inline

Definition at line 247 of file se3.hpp.

◆ unit_quaternion()

template<class Derived>
SOPHUS_FUNC QuaternionType const& Sophus::SE3Base< Derived >::unit_quaternion ( ) const
inline

Definition at line 253 of file se3.hpp.

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 484 of file se3.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::SE3Base< Derived >::DoF = 6
static

Definition at line 64 of file se3.hpp.

◆ N

template<class Derived>
int constexpr Sophus::SE3Base< Derived >::N = 4
static

Definition at line 69 of file se3.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::SE3Base< Derived >::num_parameters = 7
static

Definition at line 67 of file se3.hpp.




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