#include <mrpt/otherlibs/sophus/se3.hpp>
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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::SE3< Scalar_ > const, Options > >::TranslationType |
using | SO3Type = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ > const, Options > >::SO3Type |
using | QuaternionType = typename SO3Type::QuaternionType |
Static Public Member Functions | |
static SOPHUS_FUNC Tangent | log (SE3< Scalar > const &se3) |
static SOPHUS_FUNC Adjoint | d_lieBracketab_by_d_a (Tangent const &b) |
static SOPHUS_FUNC SE3< Scalar > | exp (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 | vee (Transformation const &Omega) |
Static Public Attributes | |
static int constexpr | DoF |
static int constexpr | num_parameters |
static int constexpr | N |
Protected Attributes | |
Map< Sophus::SO3< Scalar > const, Options > const | so3_ |
Map< Sophus::Vector3< Scalar > const, Options > const | translation_ |
Private Types | |
using | Base = Sophus::SE3Base< Map< Sophus::SE3< Scalar_ > const, Options > > |
using Eigen::Map< Sophus::SE3< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint |
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using Eigen::Map< Sophus::SE3< Scalar_ > const, Options >::Point = typename Base::Point |
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using Eigen::Map< Sophus::SE3< Scalar_ > const, Options >::Scalar = Scalar_ |
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using Eigen::Map< Sophus::SE3< Scalar_ > const, Options >::Tangent = typename Base::Tangent |
using Eigen::Map< Sophus::SE3< Scalar_ > const, Options >::Transformation = typename Base::Transformation |
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