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Sophus::Sim3Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::Sim3Base< Derived >

Definition at line 56 of file sim3.hpp.

#include <mrpt/otherlibs/sophus/sim3.hpp>

Inheritance diagram for Sophus::Sim3Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using TranslationType = typename Eigen::internal::traits< Derived >::TranslationType
 
using RxSO3Type = typename Eigen::internal::traits< Derived >::RxSO3Type
 
using QuaternionType = typename RxSO3Type::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 Sim3< NewScalarType > cast () const
 
SOPHUS_FUNC Sim3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 3, 4 > matrix3x4 () const
 
template<class OtherDerived >
SOPHUS_FUNC Sim3Base< Derived > & operator= (Sim3Base< OtherDerived > const &other)
 
SOPHUS_FUNC Sim3< Scalaroperator* (Sim3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC Sim3Base< Derived > & operator*= (Sim3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC QuaternionType const & quaternion () const
 
SOPHUS_FUNC Matrix3< ScalarrotationMatrix () const
 
SOPHUS_FUNC RxSO3Typerxso3 ()
 
SOPHUS_FUNC RxSO3Type const & rxso3 () const
 
SOPHUS_FUNC Scalar scale () const
 
SOPHUS_FUNC void setRotationMatrix (Matrix3< Scalar > &R)
 
SOPHUS_FUNC void setScale (Scalar const &scale)
 
SOPHUS_FUNC void setScaledRotationMatrix (Matrix3< Scalar > const &sR)
 
SOPHUS_FUNC TranslationTypetranslation ()
 
SOPHUS_FUNC TranslationType const & translation () const
 

Static Public Member Functions

static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC Sim3< Scalarexp (Tangent const &a)
 
static SOPHUS_FUNC Transformation generator (int i)
 
static SOPHUS_FUNC Transformation hat (Tangent const &a)
 
static SOPHUS_FUNC Tangent lieBracket (Tangent const &a, Tangent const &b)
 
static SOPHUS_FUNC Tangent log (Sim3< Scalar > const &other)
 
static SOPHUS_FUNC Tangent vee (Transformation const &Omega)
 

Static Public Attributes

static int constexpr DoF = 7
 
static int constexpr num_parameters = 7
 
static int constexpr N = 4
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::Sim3Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 75 of file sim3.hpp.

◆ Point

template<class Derived>
using Sophus::Sim3Base< Derived >::Point = Vector3<Scalar>

Definition at line 73 of file sim3.hpp.

◆ QuaternionType

template<class Derived>
using Sophus::Sim3Base< Derived >::QuaternionType = typename RxSO3Type::QuaternionType

Definition at line 62 of file sim3.hpp.

◆ RxSO3Type

template<class Derived>
using Sophus::Sim3Base< Derived >::RxSO3Type = typename Eigen::internal::traits<Derived>::RxSO3Type

Definition at line 61 of file sim3.hpp.

◆ Scalar

template<class Derived>
using Sophus::Sim3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 58 of file sim3.hpp.

◆ Tangent

template<class Derived>
using Sophus::Sim3Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 74 of file sim3.hpp.

◆ Transformation

template<class Derived>
using Sophus::Sim3Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 72 of file sim3.hpp.

◆ TranslationType

template<class Derived>
using Sophus::Sim3Base< Derived >::TranslationType = typename Eigen::internal::traits<Derived>::TranslationType

Definition at line 60 of file sim3.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::Sim3Base< Derived >::Adj ( ) const
inline

Definition at line 83 of file sim3.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC Sim3<NewScalarType> Sophus::Sim3Base< Derived >::cast ( ) const
inline

Definition at line 98 of file sim3.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>
static SOPHUS_FUNC Adjoint Sophus::Sim3Base< Derived >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestatic

Definition at line 265 of file sim3.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Derived >::exp ( Tangent const &  a)
inlinestatic

Definition at line 293 of file sim3.hpp.

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::Sim3Base< Derived >::generator ( int  i)
inlinestatic

Definition at line 385 of file sim3.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::Sim3Base< Derived >::hat ( Tangent const &  a)
inlinestatic

Definition at line 404 of file sim3.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Derived >::inverse ( ) const
inline

Definition at line 105 of file sim3.hpp.

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::Sim3Base< Derived >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestatic

Definition at line 422 of file sim3.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Tangent Sophus::Sim3Base< Derived >::log ( ) const
inline

Definition at line 114 of file sim3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::log().

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::Sim3Base< Derived >::log ( Sim3< Scalar > const &  other)
inlinestatic

Definition at line 450 of file sim3.hpp.

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::Sim3Base< Derived >::matrix ( ) const
inline

Definition at line 126 of file sim3.hpp.

◆ matrix3x4()

template<class Derived>
SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::Sim3Base< Derived >::matrix3x4 ( ) const
inline

Definition at line 136 of file sim3.hpp.

◆ operator*() [1/2]

template<class Derived>
SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Derived >::operator* ( Sim3< Scalar > const &  other) const
inline

Definition at line 158 of file sim3.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::Sim3Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 172 of file sim3.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC Sim3Base<Derived>& Sophus::Sim3Base< Derived >::operator*= ( Sim3< Scalar > const &  other)
inline

Definition at line 178 of file sim3.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC Sim3Base<Derived>& Sophus::Sim3Base< Derived >::operator= ( Sim3Base< OtherDerived > const &  other)
inline

Definition at line 146 of file sim3.hpp.

◆ quaternion()

template<class Derived>
SOPHUS_FUNC QuaternionType const& Sophus::Sim3Base< Derived >::quaternion ( ) const
inline

Definition at line 194 of file sim3.hpp.

◆ rotationMatrix()

template<class Derived>
SOPHUS_FUNC Matrix3<Scalar> Sophus::Sim3Base< Derived >::rotationMatrix ( ) const
inline

Definition at line 200 of file sim3.hpp.

◆ rxso3() [1/2]

template<class Derived>
SOPHUS_FUNC RxSO3Type& Sophus::Sim3Base< Derived >::rxso3 ( )
inline

Definition at line 206 of file sim3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator=().

◆ rxso3() [2/2]

template<class Derived>
SOPHUS_FUNC RxSO3Type const& Sophus::Sim3Base< Derived >::rxso3 ( ) const
inline

Definition at line 212 of file sim3.hpp.

◆ scale()

template<class Derived>
SOPHUS_FUNC Scalar Sophus::Sim3Base< Derived >::scale ( ) const
inline

Definition at line 218 of file sim3.hpp.

◆ setQuaternion()

template<class Derived>
SOPHUS_FUNC void Sophus::Sim3Base< Derived >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inline

Definition at line 188 of file sim3.hpp.

◆ setRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::Sim3Base< Derived >::setRotationMatrix ( Matrix3< Scalar > &  R)
inline

Definition at line 222 of file sim3.hpp.

◆ setScale()

template<class Derived>
SOPHUS_FUNC void Sophus::Sim3Base< Derived >::setScale ( Scalar const &  scale)
inline

Definition at line 231 of file sim3.hpp.

◆ setScaledRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::Sim3Base< Derived >::setScaledRotationMatrix ( Matrix3< Scalar > const &  sR)
inline

Definition at line 238 of file sim3.hpp.

◆ translation() [1/2]

template<class Derived>
SOPHUS_FUNC TranslationType& Sophus::Sim3Base< Derived >::translation ( )
inline

Definition at line 244 of file sim3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::operator=().

◆ translation() [2/2]

template<class Derived>
SOPHUS_FUNC TranslationType const& Sophus::Sim3Base< Derived >::translation ( ) const
inline

Definition at line 250 of file sim3.hpp.

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::Sim3Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 531 of file sim3.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::Sim3Base< Derived >::DoF = 7
static

Definition at line 66 of file sim3.hpp.

◆ N

template<class Derived>
int constexpr Sophus::Sim3Base< Derived >::N = 4
static

Definition at line 71 of file sim3.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::Sim3Base< Derived >::num_parameters = 7
static

Definition at line 69 of file sim3.hpp.




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