#include <mrpt/otherlibs/sophus/se2.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 | TranslationType = typename Eigen::internal::traits< Map< Sophus::SE2< Scalar_ > const, Options > >::TranslationType |
using | SO2Type = typename Eigen::internal::traits< Map< Sophus::SE2< Scalar_ > const, Options > >::SO2Type |
Public Member Functions | |
SOPHUS_FUNC | Map (Scalar const *coeffs) |
SOPHUS_FUNC Map< Sophus::SO2< Scalar > const, Options > const & | so2 () const |
SOPHUS_FUNC Map< Sophus::Vector2< Scalar > const, Options > const & | translation () const |
SOPHUS_FUNC Adjoint | Adj () const |
SOPHUS_FUNC SE2< NewScalarType > | cast () const |
SOPHUS_FUNC SE2< Scalar > | inverse () 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 |
SOPHUS_FUNC SE2< Scalar > | operator* (SE2< Scalar > const &other) const |
SOPHUS_FUNC Point | operator* (Point const &p) const |
SOPHUS_FUNC SE2Base< Map< Sophus::SE2< Scalar_ > const, Options > > & | 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 SO2Type & | so2 () |
SOPHUS_FUNC TranslationType & | translation () |
SOPHUS_FUNC Eigen::internal::traits< Map< Sophus::SE2< Scalar_ > const, Options > >::SO2Type::Complex const & | unit_complex () const |
Static Public Member Functions | |
static SOPHUS_FUNC Tangent | log (SE2< Scalar > const &other) |
static SOPHUS_FUNC Transformation | d_lieBracketab_by_d_a (Tangent const &b) |
static SOPHUS_FUNC SE2< Scalar > | exp (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 | vee (Transformation const &Omega) |
Static Public Attributes | |
static int constexpr | DoF |
static int constexpr | num_parameters |
static int constexpr | N |
Protected Attributes | |
Map< Sophus::SO2< Scalar > const, Options > const | so2_ |
Map< Sophus::Vector2< Scalar > const, Options > const | translation_ |
Private Types | |
using | Base = Sophus::SE2Base< Map< Sophus::SE2< Scalar_ > const, Options > > |
using Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint |
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using Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::Point = typename Base::Point |
using Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::Scalar = Scalar_ |
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using Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::Tangent = typename Base::Tangent |
using Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::Transformation = typename Base::Transformation |
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