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Sophus::RxSO3Base< Derived > Class Template Reference

Detailed Description

template<class Derived>
class Sophus::RxSO3Base< Derived >

Definition at line 64 of file rxso3.hpp.

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

Inheritance diagram for Sophus::RxSO3Base< Derived >:
Inheritance graph

Public Types

using Scalar = typename Eigen::internal::traits< Derived >::Scalar
 
using QuaternionType = typename Eigen::internal::traits< Derived >::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 RxSO3< NewScalarType > cast () const
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC RxSO3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC Transformation matrix () const
 
template<class OtherDerived >
SOPHUS_FUNC RxSO3Base< Derived > & operator= (RxSO3Base< OtherDerived > const &other)
 
SOPHUS_FUNC RxSO3< Scalaroperator* (RxSO3< Scalar > const &other) const
 
SOPHUS_FUNC Point operator* (Point const &p) const
 
SOPHUS_FUNC RxSO3Base< Derived > & operator*= (RxSO3< Scalar > const &other)
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quat)
 
SOPHUS_FUNC QuaternionType const & quaternion () const
 
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< Scalarso3 () const
 

Static Public Member Functions

static SOPHUS_FUNC Adjoint d_lieBracketab_by_d_a (Tangent const &b)
 
static SOPHUS_FUNC RxSO3< Scalarexp (Tangent const &a)
 
static SOPHUS_FUNC RxSO3< ScalarexpAndTheta (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 log (RxSO3< Scalar > const &other)
 
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 = 4
 
static int constexpr num_parameters = 4
 
static int constexpr N = 3
 

Protected Member Functions

SOPHUS_FUNC QuaternionTypequaternion_nonconst ()
 

Member Typedef Documentation

◆ Adjoint

template<class Derived>
using Sophus::RxSO3Base< Derived >::Adjoint = Matrix<Scalar, DoF, DoF>

Definition at line 80 of file rxso3.hpp.

◆ Point

template<class Derived>
using Sophus::RxSO3Base< Derived >::Point = Vector3<Scalar>

Definition at line 78 of file rxso3.hpp.

◆ QuaternionType

template<class Derived>
using Sophus::RxSO3Base< Derived >::QuaternionType = typename Eigen::internal::traits<Derived>::QuaternionType

Definition at line 68 of file rxso3.hpp.

◆ Scalar

template<class Derived>
using Sophus::RxSO3Base< Derived >::Scalar = typename Eigen::internal::traits<Derived>::Scalar

Definition at line 66 of file rxso3.hpp.

◆ Tangent

template<class Derived>
using Sophus::RxSO3Base< Derived >::Tangent = Vector<Scalar, DoF>

Definition at line 79 of file rxso3.hpp.

◆ Transformation

template<class Derived>
using Sophus::RxSO3Base< Derived >::Transformation = Matrix<Scalar, N, N>

Definition at line 77 of file rxso3.hpp.

Member Function Documentation

◆ Adj()

template<class Derived>
SOPHUS_FUNC Adjoint Sophus::RxSO3Base< Derived >::Adj ( ) const
inline

Definition at line 90 of file rxso3.hpp.

◆ cast()

template<class Derived>
template<class NewScalarType >
SOPHUS_FUNC RxSO3<NewScalarType> Sophus::RxSO3Base< Derived >::cast ( ) const
inline

Definition at line 100 of file rxso3.hpp.

◆ d_lieBracketab_by_d_a()

template<class Derived>
static SOPHUS_FUNC Adjoint Sophus::RxSO3Base< Derived >::d_lieBracketab_by_d_a ( Tangent const &  b)
inlinestatic

Definition at line 322 of file rxso3.hpp.

◆ data() [1/2]

template<class Derived>
SOPHUS_FUNC Scalar* Sophus::RxSO3Base< Derived >::data ( )
inline

Definition at line 112 of file rxso3.hpp.

◆ data() [2/2]

template<class Derived>
SOPHUS_FUNC Scalar const* Sophus::RxSO3Base< Derived >::data ( ) const
inline

Definition at line 116 of file rxso3.hpp.

◆ exp()

template<class Derived>
static SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Derived >::exp ( Tangent const &  a)
inlinestatic

Definition at line 340 of file rxso3.hpp.

◆ expAndTheta()

template<class Derived>
static SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Derived >::expAndTheta ( Tangent const &  a,
Scalar theta 
)
inlinestatic

Definition at line 349 of file rxso3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::exp().

◆ generator()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::RxSO3Base< Derived >::generator ( int  i)
inlinestatic

Definition at line 386 of file rxso3.hpp.

◆ hat()

template<class Derived>
static SOPHUS_FUNC Transformation Sophus::RxSO3Base< Derived >::hat ( Tangent const &  a)
inlinestatic

Definition at line 408 of file rxso3.hpp.

◆ inverse()

template<class Derived>
SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Derived >::inverse ( ) const
inline

Definition at line 122 of file rxso3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::inverse().

◆ lieBracket()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Derived >::lieBracket ( Tangent const &  a,
Tangent const &  b 
)
inlinestatic

Definition at line 428 of file rxso3.hpp.

◆ log() [1/2]

template<class Derived>
SOPHUS_FUNC Tangent Sophus::RxSO3Base< Derived >::log ( ) const
inline

Definition at line 130 of file rxso3.hpp.

Referenced by Sophus::RxSO3Base< RxSO3< Scalar, Options > >::log().

◆ log() [2/2]

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Derived >::log ( RxSO3< Scalar > const &  other)
inlinestatic

Definition at line 447 of file rxso3.hpp.

◆ logAndTheta()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Derived >::logAndTheta ( RxSO3< Scalar > const &  other,
Scalar theta 
)
inlinestatic

Definition at line 454 of file rxso3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::log().

◆ matrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::RxSO3Base< Derived >::matrix ( ) const
inline
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]

template<class Derived>
SOPHUS_FUNC RxSO3<Scalar> Sophus::RxSO3Base< Derived >::operator* ( RxSO3< Scalar > const &  other) const
inline

Definition at line 191 of file rxso3.hpp.

◆ operator*() [2/2]

template<class Derived>
SOPHUS_FUNC Point Sophus::RxSO3Base< Derived >::operator* ( Point const &  p) const
inline

Definition at line 204 of file rxso3.hpp.

◆ operator*=()

template<class Derived>
SOPHUS_FUNC RxSO3Base<Derived>& Sophus::RxSO3Base< Derived >::operator*= ( RxSO3< Scalar > const &  other)
inline

Definition at line 218 of file rxso3.hpp.

◆ operator=()

template<class Derived>
template<class OtherDerived >
SOPHUS_FUNC RxSO3Base<Derived>& Sophus::RxSO3Base< Derived >::operator= ( RxSO3Base< OtherDerived > const &  other)
inline

Definition at line 179 of file rxso3.hpp.

◆ quaternion()

template<class Derived>
SOPHUS_FUNC QuaternionType const& Sophus::RxSO3Base< Derived >::quaternion ( ) const
inline

Definition at line 244 of file rxso3.hpp.

Referenced by Sophus::RxSO3Base< RxSO3< Scalar, Options > >::operator=().

◆ quaternion_nonconst()

template<class Derived>
SOPHUS_FUNC QuaternionType& Sophus::RxSO3Base< Derived >::quaternion_nonconst ( )
inlineprotected

Definition at line 487 of file rxso3.hpp.

◆ rotationMatrix()

template<class Derived>
SOPHUS_FUNC Transformation Sophus::RxSO3Base< Derived >::rotationMatrix ( ) const
inline

Definition at line 250 of file rxso3.hpp.

◆ scale()

template<class Derived>
SOPHUS_FUNC Scalar Sophus::RxSO3Base< Derived >::scale ( ) const
inline

Definition at line 259 of file rxso3.hpp.

Referenced by Sophus::Sim3Base< Sim3< Scalar_, Options > >::exp().

◆ setQuaternion()

template<class Derived>
SOPHUS_FUNC void Sophus::RxSO3Base< Derived >::setQuaternion ( Eigen::Quaternion< Scalar > const &  quat)
inline

Definition at line 235 of file rxso3.hpp.

◆ setRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::RxSO3Base< Derived >::setRotationMatrix ( Transformation const &  R)
inline

Definition at line 263 of file rxso3.hpp.

◆ setScale()

template<class Derived>
SOPHUS_FUNC void Sophus::RxSO3Base< Derived >::setScale ( Scalar const &  scale)
inline

Definition at line 276 of file rxso3.hpp.

◆ setScaledRotationMatrix()

template<class Derived>
SOPHUS_FUNC void Sophus::RxSO3Base< Derived >::setScaledRotationMatrix ( Transformation const &  sR)
inline

Definition at line 287 of file rxso3.hpp.

◆ setSO3()

template<class Derived>
SOPHUS_FUNC void Sophus::RxSO3Base< Derived >::setSO3 ( SO3< Scalar > const &  so3)
inline

Definition at line 302 of file rxso3.hpp.

◆ so3()

template<class Derived>
SOPHUS_FUNC SO3<Scalar> Sophus::RxSO3Base< Derived >::so3 ( ) const
inline

◆ vee()

template<class Derived>
static SOPHUS_FUNC Tangent Sophus::RxSO3Base< Derived >::vee ( Transformation const &  Omega)
inlinestatic

Definition at line 479 of file rxso3.hpp.

Member Data Documentation

◆ DoF

template<class Derived>
int constexpr Sophus::RxSO3Base< Derived >::DoF = 4
static

Definition at line 72 of file rxso3.hpp.

◆ N

template<class Derived>
int constexpr Sophus::RxSO3Base< Derived >::N = 3
static

Definition at line 76 of file rxso3.hpp.

◆ num_parameters

template<class Derived>
int constexpr Sophus::RxSO3Base< Derived >::num_parameters = 4
static

Definition at line 74 of file rxso3.hpp.




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