#include <mrpt/otherlibs/sophus/se3.hpp>
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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 > |
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 |
using Sophus::SE3Base< Derived >::Point = Vector3<Scalar> |
using Sophus::SE3Base< Derived >::QuaternionType = typename SO3Type::QuaternionType |
using Sophus::SE3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar |
using Sophus::SE3Base< Derived >::SO3Type = typename Eigen::internal::traits<Derived>::SO3Type |
using Sophus::SE3Base< Derived >::Tangent = Vector<Scalar, DoF> |
using Sophus::SE3Base< Derived >::Transformation = Matrix<Scalar, N, N> |
using Sophus::SE3Base< Derived >::TranslationType = typename Eigen::internal::traits<Derived>::TranslationType |
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Definition at line 136 of file se3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::log().
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Definition at line 215 of file se3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::operator=(), and Sophus::SE3Base< SE3< Scalar_, Options > >::so3().
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Definition at line 241 of file se3.hpp.
Referenced by Sophus::SE3Base< SE3< Scalar_, Options > >::operator=().
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