Main MRPT website > C++ reference for MRPT 1.5.3
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Attributes | Private Types
Eigen::Map< Sophus::SE3< Scalar_ >, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SE3< Scalar_ >, Options >

Definition at line 654 of file se3.hpp.

#include <mrpt/otherlibs/sophus/se3.hpp>

Inheritance diagram for Eigen::Map< Sophus::SE3< 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 TranslationType = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ >, Options > >::TranslationType
 
using SO3Type = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ >, Options > >::SO3Type
 
using QuaternionType = typename SO3Type::QuaternionType
 

Public Member Functions

SOPHUS_FUNC Map (Scalar *coeffs)
 
SOPHUS_FUNC Map< Sophus::SO3< Scalar >, Options > & so3 ()
 
SOPHUS_FUNC Map< Sophus::SO3< Scalar >, Options > const & so3 () const
 
SOPHUS_FUNC Map< Sophus::Vector3< Scalar > > & translation ()
 
SOPHUS_FUNC Map< Sophus::Vector3< Scalar > > const & translation () const
 
SOPHUS_FUNC Adjoint Adj () const
 
SOPHUS_FUNC SE3< NewScalarType > cast () const
 
SOPHUS_FUNC Vector< Scalar, num_parametersinternalMultiplyByGenerator (int i) const
 
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoFinternalJacobian () const
 
SOPHUS_FUNC SE3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC void normalize ()
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 3, 4 > matrix3x4 () const
 
SOPHUS_FUNC SE3< Scalaroperator* (SE3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SE3Base< Map< Sophus::SE3< Scalar_ >, Options > > & operator*= (SE3< Scalar > const &other)
 
SOPHUS_FUNC Matrix3< ScalarrotationMatrix () const
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC void setRotationMatrix (Matrix3< Scalar > const &rotation_matrix)
 
SOPHUS_FUNC QuaternionType const & unit_quaternion () const
 

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< Scalarexp (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 >, Options > so3_
 
Map< Sophus::Vector3< Scalar >, Options > translation_
 

Private Types

using Base = Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Adjoint = typename Base::Adjoint

Definition at line 663 of file se3.hpp.

◆ Base

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Base = Sophus::SE3Base<Map<Sophus::SE3<Scalar_>, Options> >
private

Definition at line 656 of file se3.hpp.

◆ Point

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Point = typename Base::Point

Definition at line 661 of file se3.hpp.

◆ QuaternionType

using Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::QuaternionType = typename SO3Type::QuaternionType
inherited

Definition at line 61 of file se3.hpp.

◆ Scalar

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Scalar = Scalar_

Definition at line 659 of file se3.hpp.

◆ SO3Type

using Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::SO3Type = typename Eigen::internal::traits<Map< Sophus::SE3< Scalar_ >, Options > >::SO3Type
inherited

Definition at line 60 of file se3.hpp.

◆ Tangent

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Tangent = typename Base::Tangent

Definition at line 662 of file se3.hpp.

◆ Transformation

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Transformation = typename Base::Transformation

Definition at line 660 of file se3.hpp.

◆ TranslationType

using Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::TranslationType = typename Eigen::internal::traits<Map< Sophus::SE3< Scalar_ >, Options > >::TranslationType
inherited

Definition at line 59 of file se3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>
SOPHUS_FUNC Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Map ( Scalar coeffs)
inline

Definition at line 669 of file se3.hpp.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::Adj ( ) const
inlineinherited

Definition at line 80 of file se3.hpp.

◆ cast()

SOPHUS_FUNC SE3<NewScalarType> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::cast ( ) const
inlineinherited

Definition at line 93 of file se3.hpp.

◆ d_lieBracketab_by_d_a()

static SOPHUS_FUNC Adjoint Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestaticinherited

Definition at line 268 of file se3.hpp.

◆ exp()

static SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::exp ( Tangent const &  a)
inlinestaticinherited

Definition at line 293 of file se3.hpp.

◆ generator()

static SOPHUS_FUNC Transformation Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::generator ( int  i)
inlinestaticinherited

Definition at line 352 of file se3.hpp.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::hat ( Tangent const &  a)
inlinestaticinherited

Definition at line 394 of file se3.hpp.

◆ internalGenerator()

static SOPHUS_FUNC void Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::internalGenerator ( int  i,
Eigen::Quaternion< Scalar > *  internal_gen_q,
Vector3< Scalar > *  internal_gen_t 
)
inlinestaticinherited

Definition at line 364 of file se3.hpp.

◆ internalJacobian()

SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::internalJacobian ( ) const
inlineinherited

Definition at line 117 of file se3.hpp.

◆ internalMultiplyByGenerator()

SOPHUS_FUNC Vector<Scalar, num_parameters> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::internalMultiplyByGenerator ( int  i) const
inlineinherited

Definition at line 100 of file se3.hpp.

◆ inverse()

SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::inverse ( ) const
inlineinherited

Definition at line 127 of file se3.hpp.

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestaticinherited

Definition at line 412 of file se3.hpp.

◆ log() [1/2]

SOPHUS_FUNC Tangent Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::log ( ) const
inlineinherited

Definition at line 136 of file se3.hpp.

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::log ( SE3< Scalar > const &  se3)
inlinestaticinherited

Definition at line 435 of file se3.hpp.

◆ matrix()

SOPHUS_FUNC Transformation Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::matrix ( ) const
inlineinherited

Definition at line 155 of file se3.hpp.

◆ matrix3x4()

SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::matrix3x4 ( ) const
inlineinherited

Definition at line 165 of file se3.hpp.

◆ normalize()

SOPHUS_FUNC void Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::normalize ( )
inlineinherited

Definition at line 143 of file se3.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::operator* ( SE3< Scalar > const &  other) const
inlineinherited

Definition at line 183 of file se3.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 197 of file se3.hpp.

◆ operator*=()

SOPHUS_FUNC SE3Base<Map< Sophus::SE3< Scalar_ >, Options > >& Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::operator*= ( SE3< Scalar > const &  other)
inlineinherited

Definition at line 203 of file se3.hpp.

◆ rotationMatrix()

SOPHUS_FUNC Matrix3<Scalar> Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::rotationMatrix ( ) const
inlineinherited

Definition at line 211 of file se3.hpp.

◆ setQuaternion()

SOPHUS_FUNC void Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inlineinherited

Definition at line 227 of file se3.hpp.

◆ setRotationMatrix()

SOPHUS_FUNC void Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::setRotationMatrix ( Matrix3< Scalar > const &  rotation_matrix)
inlineinherited

Definition at line 235 of file se3.hpp.

◆ so3() [1/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3 ( )
inline

Definition at line 675 of file se3.hpp.

◆ so3() [2/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options> const& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3 ( ) const
inline

Definition at line 679 of file se3.hpp.

◆ translation() [1/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::Vector3<Scalar> >& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation ( )
inline

Definition at line 685 of file se3.hpp.

◆ translation() [2/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::Vector3<Scalar> > const& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation ( ) const
inline

Definition at line 691 of file se3.hpp.

◆ unit_quaternion()

SOPHUS_FUNC QuaternionType const& Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::unit_quaternion ( ) const
inlineinherited

Definition at line 253 of file se3.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Definition at line 484 of file se3.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::DoF
staticinherited

Definition at line 64 of file se3.hpp.

◆ N

int constexpr Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::N
staticinherited

Definition at line 69 of file se3.hpp.

◆ num_parameters

int constexpr Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >::num_parameters
staticinherited

Definition at line 67 of file se3.hpp.

◆ so3_

template<class Scalar_ , int Options>
Map<Sophus::SO3<Scalar>, Options> Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3_
protected

Definition at line 696 of file se3.hpp.

◆ translation_

template<class Scalar_ , int Options>
Map<Sophus::Vector3<Scalar>, Options> Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation_
protected

Definition at line 697 of file se3.hpp.




Page generated by Doxygen 1.8.13 for MRPT 1.5.3 at Sun Nov 26 00:44:48 UTC 2017