Main MRPT website > C++ reference for MRPT 1.5.3
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Attributes | Private Types
Eigen::Map< Sophus::Sim3< Scalar_ > const, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >

Definition at line 701 of file sim3.hpp.

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

Inheritance diagram for Eigen::Map< Sophus::Sim3< Scalar_ > const, 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 TranslationType = typename Eigen::internal::traits< Map< Sophus::Sim3< Scalar_ > const, Options > >::TranslationType
 
using RxSO3Type = typename Eigen::internal::traits< Map< Sophus::Sim3< Scalar_ > const, Options > >::RxSO3Type
 
using QuaternionType = typename RxSO3Type::QuaternionType
 

Public Member Functions

SOPHUS_FUNC Map (Scalar const *coeffs)
 
SOPHUS_FUNC Map< Sophus::RxSO3< Scalar > const, Options > const & rxso3 () const
 
SOPHUS_FUNC Map< Sophus::Vector3< Scalar > const, Options > const & translation () const
 
SOPHUS_FUNC Adjoint Adj () const
 
SOPHUS_FUNC Sim3< NewScalarType > cast () const
 
SOPHUS_FUNC Sim3< Scalar > inverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 3, 4 > matrix3x4 () const
 
SOPHUS_FUNC Sim3< Scalar > operator* (Sim3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > > & operator*= (Sim3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC QuaternionType const & quaternion () const
 
SOPHUS_FUNC Matrix3< Scalar > rotationMatrix () const
 
SOPHUS_FUNC RxSO3Type & rxso3 ()
 
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 TranslationType & translation ()
 

Static Public Member Functions

static SOPHUS_FUNC Tangent log (Sim3< Scalar > const &other)
 
static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC Sim3< Scalar > exp (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 vee (Transformation const &Omega)
 

Static Public Attributes

static int constexpr DoF
 
static int constexpr num_parameters
 
static int constexpr N
 

Protected Attributes

Map< Sophus::RxSO3< Scalar > const, Options > const rxso3_
 
Map< Sophus::Vector3< Scalar > const, Options > const translation_
 

Private Types

using Base = Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint

Definition at line 710 of file sim3.hpp.

◆ Base

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Base = Sophus::Sim3Base<Map<Sophus::Sim3<Scalar_> const, Options> >
private

Definition at line 703 of file sim3.hpp.

◆ Point

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Point = typename Base::Point

Definition at line 708 of file sim3.hpp.

◆ QuaternionType

using Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::QuaternionType = typename RxSO3Type::QuaternionType
inherited

Definition at line 62 of file sim3.hpp.

◆ RxSO3Type

using Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::RxSO3Type = typename Eigen::internal::traits<Map< Sophus::Sim3< Scalar_ > const, Options > >::RxSO3Type
inherited

Definition at line 61 of file sim3.hpp.

◆ Scalar

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Scalar = Scalar_

Definition at line 706 of file sim3.hpp.

◆ Tangent

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Tangent = typename Base::Tangent

Definition at line 709 of file sim3.hpp.

◆ Transformation

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Transformation = typename Base::Transformation

Definition at line 707 of file sim3.hpp.

◆ TranslationType

using Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::TranslationType = typename Eigen::internal::traits<Map< Sophus::Sim3< Scalar_ > const, Options > >::TranslationType
inherited

Definition at line 60 of file sim3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>
SOPHUS_FUNC Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::Map ( Scalar const *  coeffs)
inline

Definition at line 716 of file sim3.hpp.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::Adj ( ) const
inlineinherited

Definition at line 83 of file sim3.hpp.

◆ cast()

SOPHUS_FUNC Sim3<NewScalarType> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::cast ( ) const
inlineinherited

Definition at line 98 of file sim3.hpp.

◆ d_lieBracketab_by_d_a()

static SOPHUS_FUNC Adjoint Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestaticinherited

Definition at line 265 of file sim3.hpp.

◆ exp()

static SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::exp ( Tangent const &  a)
inlinestaticinherited

Definition at line 293 of file sim3.hpp.

◆ generator()

static SOPHUS_FUNC Transformation Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::generator ( int  i)
inlinestaticinherited

Definition at line 385 of file sim3.hpp.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::hat ( Tangent const &  a)
inlinestaticinherited

Definition at line 404 of file sim3.hpp.

◆ inverse()

SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::inverse ( ) const
inlineinherited

Definition at line 105 of file sim3.hpp.

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestaticinherited

Definition at line 422 of file sim3.hpp.

◆ log() [1/2]

SOPHUS_FUNC Tangent Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::log ( ) const
inlineinherited

Definition at line 114 of file sim3.hpp.

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::log ( Sim3< Scalar > const &  other)
inlinestaticinherited

Definition at line 450 of file sim3.hpp.

◆ matrix()

SOPHUS_FUNC Transformation Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::matrix ( ) const
inlineinherited

Definition at line 126 of file sim3.hpp.

◆ matrix3x4()

SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::matrix3x4 ( ) const
inlineinherited

Definition at line 136 of file sim3.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC Sim3<Scalar> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::operator* ( Sim3< Scalar > const &  other) const
inlineinherited

Definition at line 158 of file sim3.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 172 of file sim3.hpp.

◆ operator*=()

SOPHUS_FUNC Sim3Base<Map< Sophus::Sim3< Scalar_ > const, Options > >& Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::operator*= ( Sim3< Scalar > const &  other)
inlineinherited

Definition at line 178 of file sim3.hpp.

◆ quaternion()

SOPHUS_FUNC QuaternionType const& Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::quaternion ( ) const
inlineinherited

Definition at line 194 of file sim3.hpp.

◆ rotationMatrix()

SOPHUS_FUNC Matrix3<Scalar> Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::rotationMatrix ( ) const
inlineinherited

Definition at line 200 of file sim3.hpp.

◆ rxso3() [1/2]

SOPHUS_FUNC RxSO3Type& Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::rxso3 ( )
inlineinherited

Definition at line 206 of file sim3.hpp.

◆ rxso3() [2/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::RxSO3<Scalar> const, Options> const& Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::rxso3 ( ) const
inline

Definition at line 722 of file sim3.hpp.

◆ scale()

SOPHUS_FUNC Scalar Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::scale ( ) const
inlineinherited

Definition at line 218 of file sim3.hpp.

◆ setQuaternion()

SOPHUS_FUNC void Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inlineinherited

Definition at line 188 of file sim3.hpp.

◆ setRotationMatrix()

SOPHUS_FUNC void Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::setRotationMatrix ( Matrix3< Scalar > &  R)
inlineinherited

Definition at line 222 of file sim3.hpp.

◆ setScale()

SOPHUS_FUNC void Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::setScale ( Scalar const &  scale)
inlineinherited

Definition at line 231 of file sim3.hpp.

◆ setScaledRotationMatrix()

SOPHUS_FUNC void Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::setScaledRotationMatrix ( Matrix3< Scalar > const &  sR)
inlineinherited

Definition at line 238 of file sim3.hpp.

◆ translation() [1/2]

SOPHUS_FUNC TranslationType& Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::translation ( )
inlineinherited

Definition at line 244 of file sim3.hpp.

◆ translation() [2/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::Vector3<Scalar> const, Options> const& Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::translation ( ) const
inline

Definition at line 728 of file sim3.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Definition at line 531 of file sim3.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::DoF
staticinherited

Definition at line 66 of file sim3.hpp.

◆ N

int constexpr Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::N
staticinherited

Definition at line 71 of file sim3.hpp.

◆ num_parameters

int constexpr Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ > const, Options > >::num_parameters
staticinherited

Definition at line 69 of file sim3.hpp.

◆ rxso3_

template<class Scalar_ , int Options>
Map<Sophus::RxSO3<Scalar> const, Options> const Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::rxso3_
protected

Definition at line 734 of file sim3.hpp.

◆ translation_

template<class Scalar_ , int Options>
Map<Sophus::Vector3<Scalar> const, Options> const Eigen::Map< Sophus::Sim3< Scalar_ > const, Options >::translation_
protected

Definition at line 735 of file sim3.hpp.



Page generated by Doxygen 1.8.13 for MRPT 1.5.3 at Tue Aug 22 01:03:35 UTC 2017