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Sophus::SO2< Scalar_, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Sophus::SO2< Scalar_, Options >

Definition at line 14 of file so2.hpp.

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

Inheritance diagram for Sophus::SO2< Scalar_, Options >:
Inheritance graph

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 ComplexMember = Vector2< Scalar, Options >
 
using Complex = typename Eigen::internal::traits< SO2< Scalar_, Options > >::ComplexType
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC SO2 ()
 
template<class OtherDerived >
SOPHUS_FUNC SO2 (SO2Base< OtherDerived > const &other)
 
SOPHUS_FUNC SO2 (Transformation const &R)
 
SOPHUS_FUNC SO2 (Scalar const &real, Scalar const &imag)
 
template<class D >
SOPHUS_FUNC SO2 (Eigen::MatrixBase< D > const &complex)
 
SOPHUS_FUNC SO2 (Scalar theta)
 
SOPHUS_FUNC ComplexMember const & unit_complex () const
 
SOPHUS_FUNC Adjoint Adj () const
 
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
 
SOPHUS_FUNC SO2< Scalaroperator* (SO2< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SO2Base< SO2< Scalar_, Options > > operator*= (SO2< Scalar > const &other)
 
SOPHUS_FUNC void setComplex (Point const &complex)
 

Static Public Member Functions

static SOPHUS_FUNC Tangent log (SO2< Scalar > const &other)
 
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 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 ComplexMemberunit_complex_nonconst ()
 

Protected Attributes

ComplexMember unit_complex_
 

Private Types

using Base = SO2Base< SO2< Scalar_, Options > >
 

Friends

class SO2Base< SO2< Scalar, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Adjoint = typename Base::Adjoint

Definition at line 338 of file so2.hpp.

◆ Base

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Base = SO2Base<SO2<Scalar_, Options> >
private

Definition at line 331 of file so2.hpp.

◆ Complex

using Sophus::SO2Base< SO2< Scalar_, Options > >::Complex = typename Eigen::internal::traits<SO2< Scalar_, Options > >::ComplexType
inherited

Definition at line 75 of file so2.hpp.

◆ ComplexMember

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::ComplexMember = Vector2<Scalar, Options>

Definition at line 339 of file so2.hpp.

◆ Point

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Point = typename Base::Point

Definition at line 336 of file so2.hpp.

◆ Scalar

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Scalar = Scalar_

Definition at line 334 of file so2.hpp.

◆ Tangent

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Tangent = typename Base::Tangent

Definition at line 337 of file so2.hpp.

◆ Transformation

template<class Scalar_, int Options>
using Sophus::SO2< Scalar_, Options >::Transformation = typename Base::Transformation

Definition at line 335 of file so2.hpp.

Constructor & Destructor Documentation

◆ SO2() [1/6]

template<class Scalar_, int Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( )
inline

Definition at line 348 of file so2.hpp.

◆ SO2() [2/6]

template<class Scalar_, int Options>
template<class OtherDerived >
SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( SO2Base< OtherDerived > const &  other)
inline

Definition at line 353 of file so2.hpp.

◆ SO2() [3/6]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( Transformation const &  R)
inlineexplicit

Definition at line 360 of file so2.hpp.

◆ SO2() [4/6]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( Scalar const &  real,
Scalar const &  imag 
)
inline

Definition at line 372 of file so2.hpp.

◆ SO2() [5/6]

template<class Scalar_, int Options>
template<class D >
SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( Eigen::MatrixBase< D > const &  complex)
inlineexplicit

Definition at line 382 of file so2.hpp.

◆ SO2() [6/6]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SO2< Scalar_, Options >::SO2 ( Scalar  theta)
inlineexplicit

Definition at line 391 of file so2.hpp.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::SO2Base< SO2< Scalar_, Options > >::Adj ( ) const
inlineinherited

Definition at line 97 of file so2.hpp.

◆ cast()

SOPHUS_FUNC SO2<NewScalarType> Sophus::SO2Base< SO2< Scalar_, Options > >::cast ( ) const
inlineinherited

Definition at line 102 of file so2.hpp.

◆ data() [1/2]

SOPHUS_FUNC Scalar* Sophus::SO2Base< SO2< Scalar_, Options > >::data ( )
inlineinherited

Definition at line 111 of file so2.hpp.

◆ data() [2/2]

SOPHUS_FUNC Scalar const* Sophus::SO2Base< SO2< Scalar_, Options > >::data ( ) const
inlineinherited

Definition at line 115 of file so2.hpp.

◆ exp()

static SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< SO2< Scalar_, Options > >::exp ( Tangent const &  theta)
inlinestaticinherited

◆ generator()

static SOPHUS_FUNC Transformation Sophus::SO2Base< SO2< Scalar_, Options > >::generator ( )
inlinestaticinherited

Definition at line 252 of file so2.hpp.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::SO2Base< SO2< Scalar_, Options > >::hat ( Tangent const &  theta)
inlinestaticinherited

Definition at line 267 of file so2.hpp.

◆ inverse()

SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< SO2< Scalar_, Options > >::inverse ( ) const
inlineinherited

Definition at line 119 of file so2.hpp.

Referenced by Sophus::average().

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::SO2Base< SO2< Scalar_, Options > >::lieBracket ( Tangent const &  ,
Tangent const &   
)
inlinestaticinherited

Definition at line 282 of file so2.hpp.

◆ log() [1/2]

SOPHUS_FUNC Scalar Sophus::SO2Base< SO2< Scalar_, Options > >::log ( ) const
inlineinherited

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::SO2Base< SO2< Scalar_, Options > >::log ( SO2< Scalar > const &  other)
inlinestaticinherited

Definition at line 296 of file so2.hpp.

◆ matrix()

SOPHUS_FUNC Transformation Sophus::SO2Base< SO2< Scalar_, Options > >::matrix ( ) const
inlineinherited

Definition at line 148 of file so2.hpp.

Referenced by Sophus::normalFromSO2().

◆ normalize()

SOPHUS_FUNC void Sophus::SO2Base< SO2< Scalar_, Options > >::normalize ( )
inlineinherited

Definition at line 134 of file so2.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC SO2<Scalar> Sophus::SO2Base< SO2< Scalar_, Options > >::operator* ( SO2< Scalar > const &  other) const
inlineinherited

Definition at line 170 of file so2.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::SO2Base< SO2< Scalar_, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 181 of file so2.hpp.

◆ operator*=()

SOPHUS_FUNC SO2Base<SO2< Scalar_, Options > > Sophus::SO2Base< SO2< Scalar_, Options > >::operator*= ( SO2< Scalar > const &  other)
inlineinherited

Definition at line 189 of file so2.hpp.

◆ setComplex()

SOPHUS_FUNC void Sophus::SO2Base< SO2< Scalar_, Options > >::setComplex ( Point const &  complex)
inlineinherited

Definition at line 216 of file so2.hpp.

◆ unit_complex()

template<class Scalar_, int Options>
SOPHUS_FUNC ComplexMember const& Sophus::SO2< Scalar_, Options >::unit_complex ( ) const
inline

◆ unit_complex_nonconst()

template<class Scalar_, int Options>
SOPHUS_FUNC ComplexMember& Sophus::SO2< Scalar_, Options >::unit_complex_nonconst ( )
inlineprotected

Definition at line 404 of file so2.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::SO2Base< SO2< Scalar_, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Friends And Related Function Documentation

◆ SO2Base< SO2< Scalar, Options > >

template<class Scalar_, int Options>
friend class SO2Base< SO2< Scalar, Options > >
friend

Definition at line 342 of file so2.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::SO2Base< SO2< Scalar_, Options > >::DoF
staticinherited

Definition at line 79 of file so2.hpp.

◆ N

int constexpr Sophus::SO2Base< SO2< Scalar_, Options > >::N
staticinherited

Definition at line 83 of file so2.hpp.

◆ num_parameters

int constexpr Sophus::SO2Base< SO2< Scalar_, Options > >::num_parameters
staticinherited

Definition at line 81 of file so2.hpp.

◆ unit_complex_

template<class Scalar_, int Options>
ComplexMember Sophus::SO2< Scalar_, Options >::unit_complex_
protected

Definition at line 406 of file so2.hpp.

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




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