#include <mrpt/otherlibs/sophus/se3.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 | SO3Member = SO3< Scalar, Options > |
using | TranslationMember = Vector3< Scalar, Options > |
using | TranslationType = typename Eigen::internal::traits< SE3< Scalar_, Options > >::TranslationType |
using | SO3Type = typename Eigen::internal::traits< SE3< Scalar_, Options > >::SO3Type |
using | QuaternionType = typename SO3Type::QuaternionType |
Static Public Member Functions | |
template<class T0 , class T1 , class T2 > | |
static SOPHUS_FUNC SE3 | trans (T0 const &x, T1 const &y, T2 const &z) |
static SOPHUS_FUNC SE3 | transX (Scalar const &x) |
static SOPHUS_FUNC SE3 | transY (Scalar const &y) |
static SOPHUS_FUNC SE3 | transZ (Scalar const &z) |
static SOPHUS_FUNC SE3 | rotX (Scalar const &x) |
static SOPHUS_FUNC SE3 | rotY (Scalar const &y) |
static SOPHUS_FUNC SE3 | rotZ (Scalar const &z) |
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 | |
SO3Member | so3_ |
TranslationMember | translation_ |
Private Types | |
using | Base = SE3Base< SE3< Scalar_, Options > > |
using Sophus::SE3< Scalar_, Options >::Adjoint = typename Base::Adjoint |
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private |
using Sophus::SE3< Scalar_, Options >::Point = typename Base::Point |
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inherited |
using Sophus::SE3< Scalar_, Options >::Scalar = Scalar_ |
using Sophus::SE3< Scalar_, Options >::SO3Member = SO3<Scalar, Options> |
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inherited |
using Sophus::SE3< Scalar_, Options >::Tangent = typename Base::Tangent |
using Sophus::SE3< Scalar_, Options >::Transformation = typename Base::Transformation |
using Sophus::SE3< Scalar_, Options >::TranslationMember = Vector3<Scalar, Options> |
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Definition at line 516 of file se3.hpp.
References exprtk::details::value().
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inline |
Definition at line 525 of file se3.hpp.
References SOPHUS_FUNC, and exprtk::details::value().
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inline |
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inlineexplicit |
Definition at line 555 of file se3.hpp.
References Sophus::Constants< Scalar >::epsilon(), and SOPHUS_ENSURE.
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inlineinherited |
Definition at line 80 of file se3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::hat().
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inlinestaticinherited |
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inlinestaticinherited |
Definition at line 293 of file se3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::expAndTheta(), Sophus::SO3Base< SO3< Scalar_, Options > >::hat(), and Sophus::SO3Base< SO3< Scalar_, Options > >::matrix().
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inlinestaticinherited |
Definition at line 352 of file se3.hpp.
References exprtk::details::numeric::constant::e, and SOPHUS_ENSURE.
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inlinestaticinherited |
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inlinestaticinherited |
Definition at line 364 of file se3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::internalGenerator(), and SOPHUS_ENSURE.
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inlineinherited |
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inlineinherited |
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inlineinherited |
Definition at line 127 of file se3.hpp.
References Sophus::SO3Base< Derived >::inverse().
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inlinestaticinherited |
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inlineinherited |
Definition at line 136 of file se3.hpp.
References Sophus::SE3Base< Derived >::log().
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inlinestaticinherited |
Definition at line 435 of file se3.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::hat(), Sophus::SE3< Scalar_, Options >::so3(), and Sophus::SE3< Scalar_, Options >::translation().
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Definition at line 203 of file se3.hpp.
References Sophus::SE3< Scalar_, Options >::so3(), and Sophus::SE3< Scalar_, Options >::translation().
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inlinestatic |
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Definition at line 625 of file se3.hpp.
Referenced by Sophus::interp_details::Traits< SE3< Scalar > >::hasShortestPathAmbiguity(), Sophus::SE3Base< SE3< Scalar_, Options > >::log(), Sophus::SE3Base< SE3< Scalar_, Options > >::operator*=(), and Sophus::planeFromSE3().
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inlinestatic |
Definition at line 566 of file se3.hpp.
Referenced by Sophus::SE3< Scalar_, Options >::transX(), Sophus::SE3< Scalar_, Options >::transY(), and Sophus::SE3< Scalar_, Options >::transZ().
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Definition at line 633 of file se3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::log(), Sophus::SE3Base< SE3< Scalar_, Options > >::operator*=(), and Sophus::planeFromSE3().
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inlinestatic |
Definition at line 572 of file se3.hpp.
References Sophus::SE3< Scalar_, Options >::trans().
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inlinestatic |
Definition at line 578 of file se3.hpp.
References Sophus::SE3< Scalar_, Options >::trans().
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inlinestatic |
Definition at line 584 of file se3.hpp.
References Sophus::SE3< Scalar_, Options >::trans().
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inlinestaticinherited |
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staticinherited |
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