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Eigen::Map< Sophus::RxSO3< Scalar_ >, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >

Definition at line 585 of file rxso3.hpp.

#include <mrpt/otherlibs/sophus/rxso3.hpp>

Inheritance diagram for Eigen::Map< Sophus::RxSO3< 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 QuaternionType = typename Eigen::internal::traits< Map< Sophus::RxSO3< Scalar_ >, Options > >::QuaternionType
 

Public Member Functions

SOPHUS_FUNC Map (Scalar *coeffs)
 
SOPHUS_FUNC Map< Eigen::Quaternion< Scalar >, Options > const & quaternion () const
 
SOPHUS_FUNC Adjoint Adj () const
 
SOPHUS_FUNC RxSO3< NewScalarType > cast () const
 
SOPHUS_FUNC Scalar * data ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC RxSO3< Scalar > inverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC RxSO3< Scalar > operator* (RxSO3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > > & operator*= (RxSO3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC Transformation rotationMatrix () const
 
SOPHUS_FUNC Scalar scale () const
 
SOPHUS_FUNC void setRotationMatrix (Transformation const &R)
 
SOPHUS_FUNC void setScale (Scalar const &scale)
 
SOPHUS_FUNC void setScaledRotationMatrix (Transformation const &sR)
 
SOPHUS_FUNC void setSO3 (SO3< Scalar > const &so3)
 
SOPHUS_FUNC SO3< Scalar > so3 () const
 

Static Public Member Functions

static SOPHUS_FUNC Tangent log (RxSO3< Scalar > const &other)
 
static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC RxSO3< Scalar > exp (Tangent const &a)
 
static SOPHUS_FUNC RxSO3< Scalar > expAndTheta (Tangent const &a, Scalar *theta)
 
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 logAndTheta (RxSO3< Scalar > const &other, Scalar *theta)
 
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 Member Functions

SOPHUS_FUNC Map< Eigen::Quaternion< Scalar >, Options > & quaternion_nonconst ()
 

Protected Attributes

Map< Eigen::Quaternion< Scalar >, Options > quaternion_
 

Private Types

using Base = Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >
 

Friends

class Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Adjoint = typename Base::Adjoint

Definition at line 594 of file rxso3.hpp.

◆ Base

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Base = Sophus::RxSO3Base<Map<Sophus::RxSO3<Scalar_>, Options> >
private

Definition at line 587 of file rxso3.hpp.

◆ Point

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Point = typename Base::Point

Definition at line 592 of file rxso3.hpp.

◆ QuaternionType

using Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::QuaternionType = typename Eigen::internal::traits<Map< Sophus::RxSO3< Scalar_ >, Options > >::QuaternionType
inherited

Definition at line 68 of file rxso3.hpp.

◆ Scalar

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Scalar = Scalar_

Definition at line 590 of file rxso3.hpp.

◆ Tangent

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Tangent = typename Base::Tangent

Definition at line 593 of file rxso3.hpp.

◆ Transformation

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Transformation = typename Base::Transformation

Definition at line 591 of file rxso3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>
SOPHUS_FUNC Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::Map ( Scalar *  coeffs)
inline

Definition at line 603 of file rxso3.hpp.

References SOPHUS_FUNC.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::Adj ( ) const
inlineinherited

Definition at line 90 of file rxso3.hpp.

◆ cast()

SOPHUS_FUNC RxSO3<NewScalarType> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::cast ( ) const
inlineinherited

Definition at line 100 of file rxso3.hpp.

◆ d_lieBracketab_by_d_a()

static SOPHUS_FUNC Adjoint Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestaticinherited

Definition at line 322 of file rxso3.hpp.

◆ data() [1/2]

SOPHUS_FUNC Scalar* Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::data ( )
inlineinherited

Definition at line 112 of file rxso3.hpp.

◆ data() [2/2]

SOPHUS_FUNC Scalar const* Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::data ( ) const
inlineinherited

Definition at line 116 of file rxso3.hpp.

◆ exp()

static SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::exp ( Tangent const &  a)
inlinestaticinherited

Definition at line 340 of file rxso3.hpp.

◆ expAndTheta()

static SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::expAndTheta ( Tangent const &  a,
Scalar *  theta 
)
inlinestaticinherited

Definition at line 349 of file rxso3.hpp.

◆ generator()

static SOPHUS_FUNC Transformation Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::generator ( int  i)
inlinestaticinherited

Definition at line 386 of file rxso3.hpp.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::hat ( Tangent const &  a)
inlinestaticinherited

Definition at line 408 of file rxso3.hpp.

◆ inverse()

SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::inverse ( ) const
inlineinherited

Definition at line 122 of file rxso3.hpp.

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestaticinherited

Definition at line 428 of file rxso3.hpp.

◆ log() [1/2]

SOPHUS_FUNC Tangent Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::log ( ) const
inlineinherited

Definition at line 130 of file rxso3.hpp.

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::log ( RxSO3< Scalar > const &  other)
inlinestaticinherited

Definition at line 447 of file rxso3.hpp.

◆ logAndTheta()

static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::logAndTheta ( RxSO3< Scalar > const &  other,
Scalar *  theta 
)
inlinestaticinherited

Definition at line 454 of file rxso3.hpp.

◆ matrix()

SOPHUS_FUNC Transformation Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::matrix ( ) const
inlineinherited
Returns
3x3 matrix representation of instance

For RxSO3, the matrix representation is a scaled orthogonal matrix $ sR $ with $ det(sR)=s^3 $, thus a scaled rotation matrix $ R $ with scale s.

Definition at line 145 of file rxso3.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::operator* ( RxSO3< Scalar > const &  other) const
inlineinherited

Definition at line 191 of file rxso3.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 204 of file rxso3.hpp.

◆ operator*=()

SOPHUS_FUNC RxSO3Base<Map< Sophus::RxSO3< Scalar_ >, Options > >& Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::operator*= ( RxSO3< Scalar > const &  other)
inlineinherited

Definition at line 218 of file rxso3.hpp.

◆ quaternion()

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Eigen::Quaternion<Scalar>, Options> const& Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::quaternion ( ) const
inline

Definition at line 608 of file rxso3.hpp.

◆ quaternion_nonconst()

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Eigen::Quaternion<Scalar>, Options>& Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::quaternion_nonconst ( )
inlineprotected

Definition at line 613 of file rxso3.hpp.

◆ rotationMatrix()

SOPHUS_FUNC Transformation Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::rotationMatrix ( ) const
inlineinherited

Definition at line 250 of file rxso3.hpp.

◆ scale()

SOPHUS_FUNC Scalar Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::scale ( ) const
inlineinherited

Definition at line 259 of file rxso3.hpp.

◆ setQuaternion()

SOPHUS_FUNC void Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inlineinherited

Definition at line 235 of file rxso3.hpp.

◆ setRotationMatrix()

SOPHUS_FUNC void Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::setRotationMatrix ( Transformation const &  R)
inlineinherited

Definition at line 263 of file rxso3.hpp.

◆ setScale()

SOPHUS_FUNC void Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::setScale ( Scalar const &  scale)
inlineinherited

Definition at line 276 of file rxso3.hpp.

◆ setScaledRotationMatrix()

SOPHUS_FUNC void Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::setScaledRotationMatrix ( Transformation const &  sR)
inlineinherited

Definition at line 287 of file rxso3.hpp.

◆ setSO3()

SOPHUS_FUNC void Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::setSO3 ( SO3< Scalar > const &  so3)
inlineinherited

Definition at line 302 of file rxso3.hpp.

◆ so3()

SOPHUS_FUNC SO3<Scalar> Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::so3 ( ) const
inlineinherited

Definition at line 309 of file rxso3.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Definition at line 479 of file rxso3.hpp.

Friends And Related Function Documentation

◆ Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >

template<class Scalar_ , int Options>
friend class Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >
friend

Definition at line 597 of file rxso3.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::DoF
staticinherited

Definition at line 72 of file rxso3.hpp.

◆ N

int constexpr Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::N
staticinherited

Definition at line 76 of file rxso3.hpp.

◆ num_parameters

int constexpr Sophus::RxSO3Base< Map< Sophus::RxSO3< Scalar_ >, Options > >::num_parameters
staticinherited

Definition at line 74 of file rxso3.hpp.

◆ quaternion_

template<class Scalar_ , int Options>
Map<Eigen::Quaternion<Scalar>, Options> Eigen::Map< Sophus::RxSO3< Scalar_ >, Options >::quaternion_
protected

Definition at line 617 of file rxso3.hpp.



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