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
Sophus::SE2< Scalar_, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Sophus::SE2< Scalar_, Options >

Definition at line 8 of file se2.hpp.

#include <mrpt/otherlibs/sophus/se2.hpp>

Inheritance diagram for Sophus::SE2< 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 SO2Member = SO2< Scalar, Options >
 
using TranslationMember = Vector2< Scalar, Options >
 
using TranslationType = typename Eigen::internal::traits< SE2< Scalar_, Options > >::TranslationType
 
using SO2Type = typename Eigen::internal::traits< SE2< Scalar_, Options > >::SO2Type
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC SE2 ()
 
template<class OtherDerived >
SOPHUS_FUNC SE2 (SE2Base< OtherDerived > const &other)
 
template<class OtherDerived , class D >
SOPHUS_FUNC SE2 (SO2Base< OtherDerived > const &so2, Eigen::MatrixBase< D > const &translation)
 
SOPHUS_FUNC SE2 (typename SO2< Scalar >::Transformation const &rotation_matrix, Point const &translation)
 
SOPHUS_FUNC SE2 (Scalar const &theta, Point const &translation)
 
SOPHUS_FUNC SE2 (Vector2< Scalar > const &complex, Point const &translation)
 
SOPHUS_FUNC SE2 (Transformation const &T)
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC SO2Memberso2 ()
 
SOPHUS_FUNC SO2Member const & so2 () const
 
SOPHUS_FUNC TranslationMembertranslation ()
 
SOPHUS_FUNC TranslationMember const & translation () const
 
SOPHUS_FUNC Adjoint Adj () const
 
SOPHUS_FUNC SE2< NewScalarType > cast () const
 
SOPHUS_FUNC SE2< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC void normalize ()
 Normalize SO2 element. More...
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC Matrix< Scalar, 2, 3 > matrix2x3 () const
 
SOPHUS_FUNC SE2< Scalaroperator* (SE2< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC SE2Base< SE2< Scalar_, Options > > & operator*= (SE2< Scalar > const &other)
 
SOPHUS_FUNC Matrix< Scalar, 2, 2 > rotationMatrix () const
 
SOPHUS_FUNC void setComplex (Sophus::Vector2< Scalar > const &complex)
 
SOPHUS_FUNC void setRotationMatrix (Matrix< Scalar, 2, 2 > const &R)
 
SOPHUS_FUNC Eigen::internal::traits< SE2< Scalar_, Options > >::SO2Type::Complex const & unit_complex () const
 

Static Public Member Functions

template<class T0 , class T1 >
static SOPHUS_FUNC SE2 trans (T0 const &x, T1 const &y)
 
static SOPHUS_FUNC SE2 transX (Scalar const &x)
 
static SOPHUS_FUNC SE2 transY (Scalar const &y)
 
static SOPHUS_FUNC SE2 rot (Scalar const &x)
 
static SOPHUS_FUNC Tangent log (SE2< Scalar > const &other)
 
static SOPHUS_FUNC Transformation d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC SE2< Scalarexp (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

SO2Member so2_
 
TranslationMember translation_
 

Private Types

using Base = SE2Base< SE2< Scalar_, Options > >
 

Member Typedef Documentation

◆ Adjoint

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Adjoint = typename Base::Adjoint

Definition at line 425 of file se2.hpp.

◆ Base

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Base = SE2Base<SE2<Scalar_, Options> >
private

Definition at line 418 of file se2.hpp.

◆ Point

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Point = typename Base::Point

Definition at line 423 of file se2.hpp.

◆ Scalar

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Scalar = Scalar_

Definition at line 421 of file se2.hpp.

◆ SO2Member

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::SO2Member = SO2<Scalar, Options>

Definition at line 426 of file se2.hpp.

◆ SO2Type

using Sophus::SE2Base< SE2< Scalar_, Options > >::SO2Type = typename Eigen::internal::traits<SE2< Scalar_, Options > >::SO2Type
inherited

Definition at line 59 of file se2.hpp.

◆ Tangent

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Tangent = typename Base::Tangent

Definition at line 424 of file se2.hpp.

◆ Transformation

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::Transformation = typename Base::Transformation

Definition at line 422 of file se2.hpp.

◆ TranslationMember

template<class Scalar_, int Options>
using Sophus::SE2< Scalar_, Options >::TranslationMember = Vector2<Scalar, Options>

Definition at line 427 of file se2.hpp.

◆ TranslationType

using Sophus::SE2Base< SE2< Scalar_, Options > >::TranslationType = typename Eigen::internal::traits<SE2< Scalar_, Options > >::TranslationType
inherited

Definition at line 58 of file se2.hpp.

Constructor & Destructor Documentation

◆ SE2() [1/7]

template<class Scalar_, int Options>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( )
inline

Definition at line 433 of file se2.hpp.

◆ SE2() [2/7]

template<class Scalar_, int Options>
template<class OtherDerived >
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( SE2Base< OtherDerived > const &  other)
inline

Definition at line 438 of file se2.hpp.

References exprtk::details::value().

◆ SE2() [3/7]

template<class Scalar_, int Options>
template<class OtherDerived , class D >
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( SO2Base< OtherDerived > const &  so2,
Eigen::MatrixBase< D > const &  translation 
)
inline

Definition at line 447 of file se2.hpp.

References SOPHUS_FUNC, and exprtk::details::value().

◆ SE2() [4/7]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( typename SO2< Scalar >::Transformation const &  rotation_matrix,
Point const &  translation 
)
inline

Definition at line 461 of file se2.hpp.

◆ SE2() [5/7]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( Scalar const &  theta,
Point const &  translation 
)
inline

Definition at line 467 of file se2.hpp.

◆ SE2() [6/7]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( Vector2< Scalar > const &  complex,
Point const &  translation 
)
inline

Definition at line 473 of file se2.hpp.

◆ SE2() [7/7]

template<class Scalar_, int Options>
SOPHUS_FUNC Sophus::SE2< Scalar_, Options >::SE2 ( Transformation const &  T)
inlineexplicit

Definition at line 481 of file se2.hpp.

Member Function Documentation

◆ Adj()

SOPHUS_FUNC Adjoint Sophus::SE2Base< SE2< Scalar_, Options > >::Adj ( ) const
inlineinherited

Definition at line 80 of file se2.hpp.

◆ cast()

SOPHUS_FUNC SE2<NewScalarType> Sophus::SE2Base< SE2< Scalar_, Options > >::cast ( ) const
inlineinherited

Definition at line 93 of file se2.hpp.

◆ d_lieBracketab_by_d_a()

static SOPHUS_FUNC Transformation Sophus::SE2Base< SE2< Scalar_, Options > >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestaticinherited

Definition at line 250 of file se2.hpp.

◆ data() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC Scalar* Sophus::SE2< Scalar_, Options >::data ( )
inline

Definition at line 515 of file se2.hpp.

◆ data() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC Scalar const* Sophus::SE2< Scalar_, Options >::data ( ) const
inline

Definition at line 522 of file se2.hpp.

◆ exp()

static SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< SE2< Scalar_, Options > >::exp ( Tangent const &  a)
inlinestaticinherited

Definition at line 273 of file se2.hpp.

◆ generator()

static SOPHUS_FUNC Transformation Sophus::SE2Base< SE2< Scalar_, Options > >::generator ( int  i)
inlinestaticinherited

Definition at line 312 of file se2.hpp.

◆ hat()

static SOPHUS_FUNC Transformation Sophus::SE2Base< SE2< Scalar_, Options > >::hat ( Tangent const &  a)
inlinestaticinherited

Definition at line 331 of file se2.hpp.

◆ inverse()

SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< SE2< Scalar_, Options > >::inverse ( ) const
inlineinherited

Definition at line 100 of file se2.hpp.

◆ lieBracket()

static SOPHUS_FUNC Tangent Sophus::SE2Base< SE2< Scalar_, Options > >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestaticinherited

Definition at line 348 of file se2.hpp.

◆ log() [1/2]

SOPHUS_FUNC Tangent Sophus::SE2Base< SE2< Scalar_, Options > >::log ( ) const
inlineinherited

Definition at line 109 of file se2.hpp.

◆ log() [2/2]

static SOPHUS_FUNC Tangent Sophus::SE2Base< SE2< Scalar_, Options > >::log ( SE2< Scalar > const &  other)
inlinestaticinherited

Definition at line 368 of file se2.hpp.

◆ matrix()

SOPHUS_FUNC Transformation Sophus::SE2Base< SE2< Scalar_, Options > >::matrix ( ) const
inlineinherited

Definition at line 128 of file se2.hpp.

◆ matrix2x3()

SOPHUS_FUNC Matrix<Scalar, 2, 3> Sophus::SE2Base< SE2< Scalar_, Options > >::matrix2x3 ( ) const
inlineinherited

Definition at line 138 of file se2.hpp.

◆ normalize()

SOPHUS_FUNC void Sophus::SE2Base< SE2< Scalar_, Options > >::normalize ( )
inlineinherited

Normalize SO2 element.

It re-normalizes the SO2 element.

Definition at line 116 of file se2.hpp.

◆ operator*() [1/2]

SOPHUS_FUNC SE2<Scalar> Sophus::SE2Base< SE2< Scalar_, Options > >::operator* ( SE2< Scalar > const &  other) const
inlineinherited

Definition at line 156 of file se2.hpp.

◆ operator*() [2/2]

SOPHUS_FUNC Point Sophus::SE2Base< SE2< Scalar_, Options > >::operator* ( Point const &  p) const
inlineinherited

Definition at line 170 of file se2.hpp.

◆ operator*=()

SOPHUS_FUNC SE2Base<SE2< Scalar_, Options > >& Sophus::SE2Base< SE2< Scalar_, Options > >::operator*= ( SE2< Scalar > const &  other)
inlineinherited

Definition at line 176 of file se2.hpp.

◆ rot()

template<class Scalar_, int Options>
static SOPHUS_FUNC SE2 Sophus::SE2< Scalar_, Options >::rot ( Scalar const &  x)
inlinestatic

Definition at line 506 of file se2.hpp.

◆ rotationMatrix()

SOPHUS_FUNC Matrix<Scalar, 2, 2> Sophus::SE2Base< SE2< Scalar_, Options > >::rotationMatrix ( ) const
inlineinherited

Definition at line 184 of file se2.hpp.

◆ setComplex()

SOPHUS_FUNC void Sophus::SE2Base< SE2< Scalar_, Options > >::setComplex ( Sophus::Vector2< Scalar > const &  complex)
inlineinherited

Definition at line 192 of file se2.hpp.

◆ setRotationMatrix()

SOPHUS_FUNC void Sophus::SE2Base< SE2< Scalar_, Options > >::setRotationMatrix ( Matrix< Scalar, 2, 2 > const &  R)
inlineinherited

Definition at line 200 of file se2.hpp.

◆ so2() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC SO2Member& Sophus::SE2< Scalar_, Options >::so2 ( )
inline

◆ so2() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC SO2Member const& Sophus::SE2< Scalar_, Options >::so2 ( ) const
inline

Definition at line 533 of file se2.hpp.

◆ trans()

template<class Scalar_, int Options>
template<class T0 , class T1 >
static SOPHUS_FUNC SE2 Sophus::SE2< Scalar_, Options >::trans ( T0 const &  x,
T1 const &  y 
)
inlinestatic

◆ translation() [1/2]

template<class Scalar_, int Options>
SOPHUS_FUNC TranslationMember& Sophus::SE2< Scalar_, Options >::translation ( )
inline

◆ translation() [2/2]

template<class Scalar_, int Options>
SOPHUS_FUNC TranslationMember const& Sophus::SE2< Scalar_, Options >::translation ( ) const
inline

Definition at line 541 of file se2.hpp.

◆ transX()

template<class Scalar_, int Options>
static SOPHUS_FUNC SE2 Sophus::SE2< Scalar_, Options >::transX ( Scalar const &  x)
inlinestatic

Definition at line 494 of file se2.hpp.

References Sophus::SE2< Scalar_, Options >::trans().

◆ transY()

template<class Scalar_, int Options>
static SOPHUS_FUNC SE2 Sophus::SE2< Scalar_, Options >::transY ( Scalar const &  y)
inlinestatic

Definition at line 500 of file se2.hpp.

References Sophus::SE2< Scalar_, Options >::trans().

◆ unit_complex()

SOPHUS_FUNC Eigen::internal::traits<SE2< Scalar_, Options > >::SO2Type::Complex const& Sophus::SE2Base< SE2< Scalar_, Options > >::unit_complex ( ) const
inlineinherited

Definition at line 235 of file se2.hpp.

◆ vee()

static SOPHUS_FUNC Tangent Sophus::SE2Base< SE2< Scalar_, Options > >::vee ( Transformation const &  Omega)
inlinestaticinherited

Definition at line 404 of file se2.hpp.

Member Data Documentation

◆ DoF

int constexpr Sophus::SE2Base< SE2< Scalar_, Options > >::DoF
staticinherited

Definition at line 63 of file se2.hpp.

◆ N

int constexpr Sophus::SE2Base< SE2< Scalar_, Options > >::N
staticinherited

Definition at line 68 of file se2.hpp.

◆ num_parameters

int constexpr Sophus::SE2Base< SE2< Scalar_, Options > >::num_parameters
staticinherited

Definition at line 66 of file se2.hpp.

◆ so2_

template<class Scalar_, int Options>
SO2Member Sophus::SE2< Scalar_, Options >::so2_
protected

Definition at line 546 of file se2.hpp.

◆ translation_

template<class Scalar_, int Options>
TranslationMember Sophus::SE2< Scalar_, Options >::translation_
protected

Definition at line 547 of file se2.hpp.




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