Detailed Description

template<class Derived>
class Sophus::SE3Base< Derived >

Definition at line 55 of file se3.hpp.

#include <mrpt/otherlibs/sophus/se3.hpp>

Inheritance diagram for Sophus::SE3Base< Derived >:

Public Types
using	Scalar = typename Eigen::internal::traits< Derived >::Scalar

using	TranslationType = typename Eigen::internal::traits< Derived >::TranslationType

using	SO3Type = typename Eigen::internal::traits< Derived >::SO3Type

using	QuaternionType = typename SO3Type::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 SE3< NewScalarType >	cast () const

SOPHUS_FUNC Vector< Scalar, num_parameters >	internalMultiplyByGenerator (int i) const

SOPHUS_FUNC Matrix< Scalar, num_parameters, DoF >	internalJacobian () const

SOPHUS_FUNC SE3< Scalar >	inverse () const

SOPHUS_FUNC Tangent	log () const

SOPHUS_FUNC void	normalize ()

SOPHUS_FUNC Transformation	matrix () const

SOPHUS_FUNC Matrix< Scalar, 3, 4 >	matrix3x4 () const

template<class OtherDerived >
SOPHUS_FUNC SE3Base< Derived > &	operator= (SE3Base< OtherDerived > const &other)

SOPHUS_FUNC SE3< Scalar >	operator* (SE3< Scalar > const &other) const

SOPHUS_FUNC Point	operator* (Point const &p) const

SOPHUS_FUNC SE3Base< Derived > &	operator*= (SE3< Scalar > const &other)

SOPHUS_FUNC Matrix3< Scalar >	rotationMatrix () const

SOPHUS_FUNC SO3Type &	so3 ()

SOPHUS_FUNC SO3Type const &	so3 () const

SOPHUS_FUNC void	setQuaternion (Eigen::Quaternion< Scalar > const &quat)

SOPHUS_FUNC void	setRotationMatrix (Matrix3< Scalar > const &rotation_matrix)

SOPHUS_FUNC TranslationType &	translation ()

SOPHUS_FUNC TranslationType const &	translation () const

SOPHUS_FUNC QuaternionType const &	unit_quaternion () const

Static Public Member Functions
static SOPHUS_FUNC Adjoint	d_lieBracketab_by_d_a (Tangent const &b)

static SOPHUS_FUNC SE3< Scalar >	exp (Tangent const &a)

static SOPHUS_FUNC Transformation	generator (int i)

static SOPHUS_FUNC void	internalGenerator (int i, Eigen::Quaternion< Scalar > internal_gen_q, Vector3< Scalar > internal_gen_t)

static SOPHUS_FUNC Transformation	hat (Tangent const &a)

static SOPHUS_FUNC Tangent	lieBracket (Tangent const &a, Tangent const &b)

static SOPHUS_FUNC Tangent	log (SE3< Scalar > const &se3)

static SOPHUS_FUNC Tangent	vee (Transformation const &Omega)

Static Public Attributes
static int constexpr	DoF = 6

static int constexpr	num_parameters = 7

static int constexpr	N = 4

Member Typedef Documentation

◆ Adjoint

template<class Derived>

using Sophus::SE3Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 73 of file se3.hpp.

◆ Point

template<class Derived>

using Sophus::SE3Base< Derived >::Point = Vector3<Scalar>

Definition at line 71 of file se3.hpp.

◆ QuaternionType

template<class Derived>

using Sophus::SE3Base< Derived >::QuaternionType = typename SO3Type::QuaternionType

Definition at line 61 of file se3.hpp.

◆ Scalar

template<class Derived>

using Sophus::SE3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 57 of file se3.hpp.

◆ SO3Type

template<class Derived>

using Sophus::SE3Base< Derived >::SO3Type = typename Eigen::internal::traits<Derived>::SO3Type

Definition at line 60 of file se3.hpp.

◆ Tangent

template<class Derived>

using Sophus::SE3Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 72 of file se3.hpp.

◆ Transformation

template<class Derived>

using Sophus::SE3Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 70 of file se3.hpp.

◆ TranslationType

template<class Derived>

using Sophus::SE3Base< Derived >::TranslationType = typename Eigen::internal::traits<Derived>::TranslationType

Definition at line 59 of file se3.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>

SOPHUS_FUNC Adjoint Sophus::SE3Base< Derived >::Adj ( ) const

inline

Definition at line 80 of file se3.hpp.

◆ cast()

template<class Derived>

template<class NewScalarType >

SOPHUS_FUNC SE3<NewScalarType> Sophus::SE3Base< Derived >::cast ( ) const

inline

Definition at line 93 of file se3.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>

static SOPHUS_FUNC Adjoint Sophus::SE3Base< Derived >::d_lieBracketab_by_d_a ( Tangent const & b )

inlinestatic

Definition at line 268 of file se3.hpp.

◆ exp()

template<class Derived>

static SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::exp ( Tangent const & a )

inlinestatic

Definition at line 293 of file se3.hpp.

◆ generator()

template<class Derived>

static SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::generator ( int i )

inlinestatic

Definition at line 352 of file se3.hpp.

◆ hat()

template<class Derived>

static SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::hat ( Tangent const & a )

inlinestatic

Definition at line 394 of file se3.hpp.

◆ internalGenerator()

template<class Derived>

static SOPHUS_FUNC void Sophus::SE3Base< Derived >::internalGenerator	(	int	i,
		Eigen::Quaternion< Scalar > *	internal_gen_q,
		Vector3< Scalar > *	internal_gen_t
	)

inlinestatic

Definition at line 364 of file se3.hpp.

◆ internalJacobian()

template<class Derived>

SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Sophus::SE3Base< Derived >::internalJacobian ( ) const

inline

Definition at line 117 of file se3.hpp.

◆ internalMultiplyByGenerator()

template<class Derived>

SOPHUS_FUNC Vector<Scalar, num_parameters> Sophus::SE3Base< Derived >::internalMultiplyByGenerator ( int i ) const

inline

Definition at line 100 of file se3.hpp.

◆ inverse()

template<class Derived>

SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::inverse ( ) const

inline

Definition at line 127 of file se3.hpp.

◆ lieBracket()

template<class Derived>

static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::lieBracket	(	Tangent const &	a,
		Tangent const &	b
	)

inlinestatic

Definition at line 412 of file se3.hpp.

◆ log() [1/2]

template<class Derived>

SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::log ( ) const

inline

Definition at line 136 of file se3.hpp.

Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::log().

◆ log() [2/2]

template<class Derived>

static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::log ( SE3< Scalar > const & se3 )

inlinestatic

Definition at line 435 of file se3.hpp.

◆ matrix()

template<class Derived>

SOPHUS_FUNC Transformation Sophus::SE3Base< Derived >::matrix ( ) const

inline

Definition at line 155 of file se3.hpp.

◆ matrix3x4()

template<class Derived>

SOPHUS_FUNC Matrix<Scalar, 3, 4> Sophus::SE3Base< Derived >::matrix3x4 ( ) const

inline

Definition at line 165 of file se3.hpp.

◆ normalize()

template<class Derived>

SOPHUS_FUNC void Sophus::SE3Base< Derived >::normalize ( )

inline

Definition at line 143 of file se3.hpp.

◆ operator*() [1/2]

template<class Derived>

SOPHUS_FUNC SE3<Scalar> Sophus::SE3Base< Derived >::operator* ( SE3< Scalar > const & other ) const

inline

Definition at line 183 of file se3.hpp.

◆ operator*() [2/2]

template<class Derived>

SOPHUS_FUNC Point Sophus::SE3Base< Derived >::operator* ( Point const & p ) const

inline

Definition at line 197 of file se3.hpp.

◆ operator*=()

template<class Derived>

SOPHUS_FUNC SE3Base<Derived>& Sophus::SE3Base< Derived >::operator*= ( SE3< Scalar > const & other )

inline

Definition at line 203 of file se3.hpp.

◆ operator=()

template<class Derived>

template<class OtherDerived >

SOPHUS_FUNC SE3Base<Derived>& Sophus::SE3Base< Derived >::operator= ( SE3Base< OtherDerived > const & other )

inline

Definition at line 175 of file se3.hpp.

◆ rotationMatrix()

template<class Derived>

SOPHUS_FUNC Matrix3<Scalar> Sophus::SE3Base< Derived >::rotationMatrix ( ) const

inline

Definition at line 211 of file se3.hpp.

◆ setQuaternion()

template<class Derived>

SOPHUS_FUNC void Sophus::SE3Base< Derived >::setQuaternion ( Eigen::Quaternion< Scalar > const & quat )

inline

Definition at line 227 of file se3.hpp.

◆ setRotationMatrix()

template<class Derived>

SOPHUS_FUNC void Sophus::SE3Base< Derived >::setRotationMatrix ( Matrix3< Scalar > const & rotation_matrix )

inline

Definition at line 235 of file se3.hpp.

◆ so3() [1/2]

template<class Derived>

SOPHUS_FUNC SO3Type& Sophus::SE3Base< Derived >::so3 ( )

inline

Definition at line 215 of file se3.hpp.

Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::operator=(), and Sophus::SE3Base< SE3< Scalar_, Options > >::so3().

◆ so3() [2/2]

template<class Derived>

SOPHUS_FUNC SO3Type const& Sophus::SE3Base< Derived >::so3 ( ) const

inline

Definition at line 219 of file se3.hpp.

◆ translation() [1/2]

template<class Derived>

SOPHUS_FUNC TranslationType& Sophus::SE3Base< Derived >::translation ( )

inline

Definition at line 241 of file se3.hpp.

Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::operator=().

◆ translation() [2/2]

template<class Derived>

SOPHUS_FUNC TranslationType const& Sophus::SE3Base< Derived >::translation ( ) const

inline

Definition at line 247 of file se3.hpp.

◆ unit_quaternion()

template<class Derived>

SOPHUS_FUNC QuaternionType const& Sophus::SE3Base< Derived >::unit_quaternion ( ) const

inline

Definition at line 253 of file se3.hpp.

◆ vee()

template<class Derived>

static SOPHUS_FUNC Tangent Sophus::SE3Base< Derived >::vee ( Transformation const & Omega )

inlinestatic

Definition at line 484 of file se3.hpp.

Member Data Documentation

◆ DoF

template<class Derived>

int constexpr Sophus::SE3Base< Derived >::DoF = 6

static

Definition at line 64 of file se3.hpp.

◆ N

template<class Derived>

int constexpr Sophus::SE3Base< Derived >::N = 4

static

Definition at line 69 of file se3.hpp.

◆ num_parameters

template<class Derived>

int constexpr Sophus::SE3Base< Derived >::num_parameters = 7

static

Definition at line 67 of file se3.hpp.

Detailed Description

template<class Derived> class Sophus::SE3Base< Derived >

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Member Typedef Documentation

◆ Adjoint

◆ Point

◆ QuaternionType

◆ Scalar

◆ SO3Type

◆ Tangent

◆ Transformation

◆ TranslationType

Member Function Documentation

◆ Adj()

◆ cast()

◆ d_lieBracketab_by_d_a()

◆ exp()

◆ generator()

◆ hat()

◆ internalGenerator()

◆ internalJacobian()

◆ internalMultiplyByGenerator()

◆ inverse()

◆ lieBracket()

◆ log() [1/2]

◆ log() [2/2]

◆ matrix()

◆ matrix3x4()

◆ normalize()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator=()

◆ rotationMatrix()

◆ setQuaternion()

◆ setRotationMatrix()

◆ so3() [1/2]

◆ so3() [2/2]

◆ translation() [1/2]

◆ translation() [2/2]

◆ unit_quaternion()

◆ vee()

Member Data Documentation

◆ DoF

◆ N

◆ num_parameters

template<class Derived>
class Sophus::SE3Base< Derived >