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29 template <
unsigned int n>
41 constexpr
static size_t DOFs = 6;
44 constexpr
static size_t MANIFOLD_DIM = 3 * 4;
150 static void jacob_dDinvP1invP2_de1e2(
165 constexpr
static size_t DOFs = 3;
171 constexpr
static size_t MANIFOLD_DIM = 3;
229 static void jacob_dDinvP1invP2_de1e2(
CMatrixFixed< double, 6, 12 > CMatrixDouble6_12
CMatrixFixed< double, 12, 6 > CMatrixDouble12_6
CMatrixFixed< double, 6, 6 > CMatrixDouble66
A compile-time fixed-size numeric matrix container.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Traits for SE(n), rigid-body transformations in R^n space.
CMatrixFixed< double, 3, 3 > CMatrixDouble33
std::optional< std::reference_wrapper< T > > optional_ref
Shorter name for std::optional<std::reference_wrapper<T>>
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