Traits for SE(3), rigid-body transformations in R^3 space.
See indidual members for documentation, or [1] for a general overview.
Definition at line 38 of file SE.h.
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static type | exp (const tangent_vector &x) |
| Retraction to SE(3), a pseudo-exponential map and its Jacobian. More...
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static tangent_vector | log (const type &P) |
| SE(3) pseudo-logarithm map . More...
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static manifold_vector | asManifoldVector (const type &pose) |
| Returns a vector with all manifold matrix elements in column-major order. More...
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static type | fromManifoldVector (const manifold_vector &v) |
| The inverse operation of asManifoldVector() More...
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static tang2mat_jacob | jacob_dexpe_de (const tangent_vector &x) |
| Jacobian for the pseudo-exponential exp(). More...
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static mat2tang_jacob | jacob_dlogv_dv (const type &P) |
| Jacobian for the pseudo-logarithm log() See 10.3.11 in [1]. More...
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static tang2mat_jacob | jacob_dexpeD_de (const CPose3D &D) |
| Jacobian d (e^eps * D) / d eps , with eps=increment in Lie Algebra. More...
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static tang2mat_jacob | jacob_dDexpe_de (const CPose3D &D) |
| Jacobian d (D * e^eps) / d eps , with eps=increment in Lie Algebra. More...
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static tang2mat_jacob | jacob_dAexpeD_de (const CPose3D &A, const CPose3D &D) |
| Jacobian d (A * e^eps * D) / d eps , with eps=increment in Lie Algebra. More...
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static matrix_MxM | jacob_dAB_dA (const type &A, const type &B) |
| Jacobian of the pose composition A*B for SE(3) 3x4 (sub)matrices, with respect to A. More...
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static matrix_MxM | jacob_dAB_dB (const type &A, const type &B) |
| Jacobian of the pose composition A*B for SE(3) 3x4 (sub)matrices, with respect to B. More...
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static void | jacob_dDinvP1invP2_de1e2 (const type &Dinv, const type &P1, const type &P2, mrpt::optional_ref< matrix_TxT > df_de1=std::nullopt, mrpt::optional_ref< matrix_TxT > df_de2=std::nullopt) |
| Return one or both of the following 6x6 Jacobians, useful in graph-slam problems: More...
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