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Sophus::Sim3< Scalar_, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Sophus::Sim3< Scalar_, Options >

Definition at line 8 of file sim3.hpp.

#include <mrpt/otherlibs/sophus/sim3.hpp>

Inheritance diagram for Sophus::Sim3< 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 RxSo3Member = RxSO3< Scalar, Options >
 
using TranslationMember = Vector3< Scalar, Options >
 
using TranslationType = typename Eigen::internal::traits< Sim3< Scalar_, Options > >::TranslationType
 
using RxSO3Type = typename Eigen::internal::traits< Sim3< Scalar_, Options > >::RxSO3Type
 
using QuaternionType = typename RxSO3Type::QuaternionType
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC Sim3 ()
 
template<class OtherDerived >
SOPHUS_FUNC Sim3 (Sim3Base< OtherDerived > const &other)
 
template<class OtherDerived , class D >
SOPHUS_FUNC Sim3 (RxSO3Base< OtherDerived > const &rxso3, Eigen::MatrixBase< D > const &translation)
 
template<class D1 , class D2 >
SOPHUS_FUNC Sim3 (Eigen::QuaternionBase< D1 > const &quaternion, Eigen::MatrixBase< D2 > const &translation)
 
SOPHUS_FUNC Sim3 (Matrix< Scalar, 4, 4 > const &T)
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC RxSo3Memberrxso3 ()
 
SOPHUS_FUNC RxSo3Member const & rxso3 () const
 
SOPHUS_FUNC TranslationMembertranslation ()
 
SOPHUS_FUNC TranslationMember const & translation () const
 
SOPHUS_FUNC Adjoint Adj () const
 
SOPHUS_FUNC Sim3< NewScalarType > cast () const
 
SOPHUS_FUNC Sim3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 3, 4 > matrix3x4 () const
 
SOPHUS_FUNC Sim3< Scalaroperator* (Sim3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC Sim3Base< Sim3< Scalar_, Options > > & operator*= (Sim3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC QuaternionType const & quaternion () const
 
SOPHUS_FUNC Matrix3< ScalarrotationMatrix () const
 
SOPHUS_FUNC Scalar scale () const
 
SOPHUS_FUNC void setRotationMatrix (Matrix3< Scalar > &R)
 
SOPHUS_FUNC void setScale (Scalar const &scale)
 
SOPHUS_FUNC void setScaledRotationMatrix (Matrix3< Scalar > const &sR)
 

Static Public Member Functions

static SOPHUS_FUNC Tangent log (Sim3< Scalar > const &other)
 
static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC Sim3< Scalarexp (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

RxSo3Member rxso3_
 
TranslationMember translation_
 

Private Types

using Base = Sim3Base< Sim3< Scalar_, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Adjoint = typename Base::Adjoint

Definition at line 550 of file sim3.hpp.

◆ Base

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Base = Sim3Base<Sim3<Scalar_, Options> >
private

Definition at line 543 of file sim3.hpp.

◆ Point

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Point = typename Base::Point

Definition at line 548 of file sim3.hpp.

◆ QuaternionType

using Sophus::Sim3Base< Sim3< Scalar_, Options > >::QuaternionType = typename RxSO3Type::QuaternionType
inherited

Definition at line 62 of file sim3.hpp.

◆ RxSo3Member

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::RxSo3Member = RxSO3<Scalar, Options>

Definition at line 551 of file sim3.hpp.

◆ RxSO3Type

using Sophus::Sim3Base< Sim3< Scalar_, Options > >::RxSO3Type = typename Eigen::internal::traits<Sim3< Scalar_, Options > >::RxSO3Type
inherited

Definition at line 61 of file sim3.hpp.

◆ Scalar

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Scalar = Scalar_

Definition at line 546 of file sim3.hpp.

◆ Tangent

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Tangent = typename Base::Tangent

Definition at line 549 of file sim3.hpp.

◆ Transformation

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::Transformation = typename Base::Transformation

Definition at line 547 of file sim3.hpp.

◆ TranslationMember

template<class Scalar_, int Options>
using Sophus::Sim3< Scalar_, Options >::TranslationMember = Vector3<Scalar, Options>

Definition at line 552 of file sim3.hpp.

◆ TranslationType

using Sophus::Sim3Base< Sim3< Scalar_, Options > >::TranslationType = typename Eigen::internal::traits<Sim3< Scalar_, Options > >::TranslationType
inherited

Definition at line 60 of file sim3.hpp.

Constructor & Destructor Documentation

◆ Sim3() [1/5]

template<class Scalar_, int Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC Sophus::Sim3< Scalar_, Options >::Sim3 ( )
inline

Definition at line 558 of file sim3.hpp.

◆ Sim3() [2/5]

template<class Scalar_, int Options>
template<class OtherDerived >
SOPHUS_FUNC Sophus::Sim3< Scalar_, Options >::Sim3 ( Sim3Base< OtherDerived > const &  other)
inline

Definition at line 563 of file sim3.hpp.

References exprtk::details::value().

◆ Sim3() [3/5]

template<class Scalar_, int Options>
template<class OtherDerived , class D >
SOPHUS_FUNC Sophus::Sim3< Scalar_, Options >::Sim3 ( RxSO3Base< OtherDerived > const &  rxso3,
Eigen::MatrixBase< D > const &  translation 
)
inline

Definition at line 572 of file sim3.hpp.

References exprtk::details::value().

◆ Sim3() [4/5]

template<class Scalar_, int Options>
template<class D1 , class D2 >
SOPHUS_FUNC Sophus::Sim3< Scalar_, Options >::Sim3 ( Eigen::QuaternionBase< D1 > const &  quaternion,
Eigen::MatrixBase< D2 > const &  translation 
)
inline

Definition at line 586 of file sim3.hpp.

References exprtk::details::value().

◆ Sim3() [5/5]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::Sim3< Scalar_, Options >::Sim3 ( Matrix< Scalar, 4, 4 > const &  T)
inlineexplicit

Definition at line 600 of file sim3.hpp.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::Sim3Base< Sim3< Scalar_, Options > >::Adj ( ) const
inlineinherited

Definition at line 83 of file sim3.hpp.

References Sophus::SO3Base< SO3< Scalar_, Options > >::hat().

◆ cast()

SOPHUS_FUNC Sim3<NewScalarType> Sophus::Sim3Base< Sim3< Scalar_, Options > >::cast ( ) const
inlineinherited

Definition at line 98 of file sim3.hpp.

◆ d_lieBracketab_by_d_a()

static SOPHUS_FUNC Adjoint Sophus::Sim3Base< Sim3< Scalar_, Options > >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestaticinherited

Definition at line 265 of file sim3.hpp.

◆ data() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC Scalar* Sophus::Sim3< Scalar_, Options >::data ( )
inline

Definition at line 609 of file sim3.hpp.

◆ data() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC Scalar const* Sophus::Sim3< Scalar_, Options >::data ( ) const
inline

Definition at line 616 of file sim3.hpp.

◆ exp()

static SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Sim3< Scalar_, Options > >::exp ( Tangent const &  a)
inlinestaticinherited

◆ generator()

static SOPHUS_FUNC Transformation Sophus::Sim3Base< Sim3< Scalar_, Options > >::generator ( int  i)
inlinestaticinherited

Definition at line 385 of file sim3.hpp.

References exprtk::details::numeric::constant::e, and SOPHUS_ENSURE.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::Sim3Base< Sim3< Scalar_, Options > >::hat ( Tangent const &  a)
inlinestaticinherited

Definition at line 404 of file sim3.hpp.

◆ inverse()

SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Sim3< Scalar_, Options > >::inverse ( ) const
inlineinherited

Definition at line 105 of file sim3.hpp.

References Sophus::RxSO3Base< Derived >::inverse().

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Sim3< Scalar_, Options > >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestaticinherited

Definition at line 422 of file sim3.hpp.

References Sophus::SO3Base< SO3< Scalar_, Options > >::hat().

◆ log() [1/2]

SOPHUS_FUNC Tangent Sophus::Sim3Base< Sim3< Scalar_, Options > >::log ( ) const
inlineinherited

Definition at line 114 of file sim3.hpp.

References Sophus::Sim3Base< Derived >::log().

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Sim3< Scalar_, Options > >::log ( Sim3< Scalar > const &  other)
inlinestaticinherited

◆ matrix()

SOPHUS_FUNC Transformation Sophus::Sim3Base< Sim3< Scalar_, Options > >::matrix ( ) const
inlineinherited

Definition at line 126 of file sim3.hpp.

◆ matrix3x4()

SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::Sim3Base< Sim3< Scalar_, Options > >::matrix3x4 ( ) const
inlineinherited

Definition at line 136 of file sim3.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator* ( Sim3< Scalar > const &  other) const
inlineinherited

Definition at line 158 of file sim3.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 172 of file sim3.hpp.

◆ operator*=()

SOPHUS_FUNC Sim3Base<Sim3< Scalar_, Options > >& Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator*= ( Sim3< Scalar > const &  other)
inlineinherited

◆ quaternion()

SOPHUS_FUNC QuaternionType const& Sophus::Sim3Base< Sim3< Scalar_, Options > >::quaternion ( ) const
inlineinherited

Definition at line 194 of file sim3.hpp.

◆ rotationMatrix()

SOPHUS_FUNC Matrix3<Scalar> Sophus::Sim3Base< Sim3< Scalar_, Options > >::rotationMatrix ( ) const
inlineinherited

Definition at line 200 of file sim3.hpp.

◆ rxso3() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC RxSo3Member& Sophus::Sim3< Scalar_, Options >::rxso3 ( )
inline

◆ rxso3() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC RxSo3Member const& Sophus::Sim3< Scalar_, Options >::rxso3 ( ) const
inline

Definition at line 627 of file sim3.hpp.

◆ scale()

SOPHUS_FUNC Scalar Sophus::Sim3Base< Sim3< Scalar_, Options > >::scale ( ) const
inlineinherited

Definition at line 218 of file sim3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::log().

◆ setQuaternion()

SOPHUS_FUNC void Sophus::Sim3Base< Sim3< Scalar_, Options > >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inlineinherited

Definition at line 188 of file sim3.hpp.

◆ setRotationMatrix()

SOPHUS_FUNC void Sophus::Sim3Base< Sim3< Scalar_, Options > >::setRotationMatrix ( Matrix3< Scalar > &  R)
inlineinherited

Definition at line 222 of file sim3.hpp.

◆ setScale()

SOPHUS_FUNC void Sophus::Sim3Base< Sim3< Scalar_, Options > >::setScale ( Scalar const &  scale)
inlineinherited

Definition at line 231 of file sim3.hpp.

◆ setScaledRotationMatrix()

SOPHUS_FUNC void Sophus::Sim3Base< Sim3< Scalar_, Options > >::setScaledRotationMatrix ( Matrix3< Scalar > const &  sR)
inlineinherited

Definition at line 238 of file sim3.hpp.

◆ translation() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC TranslationMember& Sophus::Sim3< Scalar_, Options >::translation ( )
inline

◆ translation() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC TranslationMember const& Sophus::Sim3< Scalar_, Options >::translation ( ) const
inline

Definition at line 635 of file sim3.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Sim3< Scalar_, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Definition at line 531 of file sim3.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::Sim3Base< Sim3< Scalar_, Options > >::DoF
staticinherited

Definition at line 66 of file sim3.hpp.

◆ N

int constexpr Sophus::Sim3Base< Sim3< Scalar_, Options > >::N
staticinherited

Definition at line 71 of file sim3.hpp.

◆ num_parameters

int constexpr Sophus::Sim3Base< Sim3< Scalar_, Options > >::num_parameters
staticinherited

Definition at line 69 of file sim3.hpp.

◆ rxso3_

template<class Scalar_, int Options>
RxSo3Member Sophus::Sim3< Scalar_, Options >::rxso3_
protected

Definition at line 640 of file sim3.hpp.

◆ translation_

template<class Scalar_, int Options>
TranslationMember Sophus::Sim3< Scalar_, Options >::translation_
protected

Definition at line 641 of file sim3.hpp.




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