#include <mrpt/otherlibs/sophus/so3.hpp>
Public Types | |
using | Scalar = typename Eigen::internal::traits< Derived >::Scalar |
using | QuaternionType = typename Eigen::internal::traits< Derived >::QuaternionType |
using | Transformation = Matrix< Scalar, N, N > |
using | Point = Vector3< Scalar > |
using | Tangent = Vector< Scalar, DoF > |
using | Adjoint = Matrix< Scalar, DoF, DoF > |
Public Member Functions | |
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 |
template<class OtherDerived > | |
SOPHUS_FUNC SO3Base< Derived > & | operator= (SO3Base< OtherDerived > const &other) |
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) |
SOPHUS_FUNC QuaternionType const & | unit_quaternion () const |
Static Public Member Functions | |
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 | log (SO3< Scalar > const &other) |
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 |
Private Member Functions | |
SOPHUS_FUNC QuaternionType & | unit_quaternion_nonconst () |
using Sophus::SO3Base< Derived >::Point = Vector3<Scalar> |
using Sophus::SO3Base< Derived >::QuaternionType = typename Eigen::internal::traits<Derived>::QuaternionType |
using Sophus::SO3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar |
using Sophus::SO3Base< Derived >::Tangent = Vector<Scalar, DoF> |
using Sophus::SO3Base< Derived >::Transformation = Matrix<Scalar, N, N> |
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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 242 of file so3.hpp.
Referenced by Sophus::SO3Base< SO3< Scalar_, Options > >::operator=().
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