#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 | QuaternionType = typename Eigen::internal::traits< Derived >::QuaternionType |
Public Member Functions | |
SOPHUS_FUNC | Map (Scalar *coeffs) |
SOPHUS_FUNC Map< Eigen::Quaternion< Scalar >, Options > const & | unit_quaternion () const |
SOPHUS_FUNC Adjoint | Adj () const |
template<class NewScalarType > | |
SOPHUS_FUNC SO3< NewScalarType > | cast () const |
SOPHUS_FUNC Scalar * | data () |
SOPHUS_FUNC Scalar const * | data () const |
SOPHUS_FUNC Vector< Scalar, num_parameters > | internalMultiplyByGenerator (int i) const |
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoF > | internalJacobian () const |
SOPHUS_FUNC SO3< Scalar > | inverse () const |
SOPHUS_FUNC Tangent | log () const |
SOPHUS_FUNC void | normalize () |
SOPHUS_FUNC Transformation | matrix () const |
SOPHUS_FUNC SO3< Scalar > | operator* (SO3< Scalar > const &other) const |
SOPHUS_FUNC Point | operator* (Point const &p) const |
SOPHUS_FUNC SO3Base< Derived > & | operator*= (SO3< Scalar > const &other) |
SOPHUS_FUNC void | setQuaternion (Eigen::Quaternion< Scalar > const &quaternion) |
Static Public Member Functions | |
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 = 3 |
static int constexpr | num_parameters = 4 |
static int constexpr | N = 3 |
Protected Member Functions | |
SOPHUS_FUNC Map< Eigen::Quaternion< Scalar >, Options > & | unit_quaternion_nonconst () |
Protected Attributes | |
Map< Eigen::Quaternion< Scalar >, Options > | unit_quaternion_ |
Private Types | |
using | Base = Sophus::SO3Base< Map< Sophus::SO3< Scalar_ >, Options > > |
Friends | |
class | Sophus::SO3Base< Map< Sophus::SO3< Scalar_ >, Options > > |
using Eigen::Map< Sophus::SO3< Scalar_ >, Options >::Adjoint = typename Base::Adjoint |
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using Eigen::Map< Sophus::SO3< Scalar_ >, Options >::Point = typename Base::Point |
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using Eigen::Map< Sophus::SO3< Scalar_ >, Options >::Scalar = Scalar_ |
using Eigen::Map< Sophus::SO3< Scalar_ >, Options >::Tangent = typename Base::Tangent |
using Eigen::Map< Sophus::SO3< Scalar_ >, Options >::Transformation = typename Base::Transformation |
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Definition at line 144 of file so3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::inverse().
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Definition at line 600 of file so3.hpp.
References SOPHUS_FUNC.
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