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Eigen::Map< Sophus::SE2< Scalar_ > const, Options > Class Template Reference

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SE2< Scalar_ > const, Options >

Definition at line 609 of file se2.hpp.

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

Inheritance diagram for Eigen::Map< Sophus::SE2< 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::SE2< Scalar_ > const, Options > >::TranslationType
 
using SO2Type = typename Eigen::internal::traits< Map< Sophus::SE2< Scalar_ > const, Options > >::SO2Type
 

Public Member Functions

SOPHUS_FUNC Map (Scalar const *coeffs)
 
SOPHUS_FUNC Map< Sophus::SO2< Scalar > const, Options > const & so2 () const
 
SOPHUS_FUNC Map< Sophus::Vector2< Scalar > const, Options > 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< Map< Sophus::SE2< Scalar_ > const, 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 SO2Typeso2 ()
 
SOPHUS_FUNC TranslationTypetranslation ()
 
SOPHUS_FUNC Eigen::internal::traits< Map< Sophus::SE2< Scalar_ > const, Options > >::SO2Type::Complex const & unit_complex () const
 

Static Public Member Functions

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

Map< Sophus::SO2< Scalar > const, Options > const so2_
 
Map< Sophus::Vector2< Scalar > const, Options > const translation_
 

Private Types

using Base = Sophus::SE2Base< Map< Sophus::SE2< Scalar_ > const, Options > >
 

Member Typedef Documentation

◆ Adjoint

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

Definition at line 618 of file se2.hpp.

◆ Base

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

Definition at line 611 of file se2.hpp.

◆ Point

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

Definition at line 616 of file se2.hpp.

◆ Scalar

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

Definition at line 614 of file se2.hpp.

◆ SO2Type

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

Definition at line 59 of file se2.hpp.

◆ Tangent

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

Definition at line 617 of file se2.hpp.

◆ Transformation

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

Definition at line 615 of file se2.hpp.

◆ TranslationType

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

Definition at line 58 of file se2.hpp.

Constructor & Destructor Documentation

◆ Map()

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

Definition at line 624 of file se2.hpp.

Member Function Documentation

◆ Adj()

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

Definition at line 80 of file se2.hpp.

◆ cast()

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

Definition at line 93 of file se2.hpp.

◆ d_lieBracketab_by_d_a()

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

Definition at line 250 of file se2.hpp.

◆ exp()

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

Definition at line 273 of file se2.hpp.

◆ generator()

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

Definition at line 312 of file se2.hpp.

◆ hat()

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

Definition at line 331 of file se2.hpp.

◆ inverse()

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

Definition at line 100 of file se2.hpp.

◆ lieBracket()

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

Definition at line 109 of file se2.hpp.

◆ log() [2/2]

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

Definition at line 368 of file se2.hpp.

◆ matrix()

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

Definition at line 128 of file se2.hpp.

◆ matrix2x3()

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

Definition at line 138 of file se2.hpp.

◆ normalize()

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

Definition at line 156 of file se2.hpp.

◆ operator*() [2/2]

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

Definition at line 170 of file se2.hpp.

◆ operator*=()

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

Definition at line 176 of file se2.hpp.

◆ rotationMatrix()

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

Definition at line 184 of file se2.hpp.

◆ setComplex()

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

Definition at line 192 of file se2.hpp.

◆ setRotationMatrix()

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

Definition at line 200 of file se2.hpp.

◆ so2() [1/2]

SOPHUS_FUNC SO2Type& Sophus::SE2Base< Map< Sophus::SE2< Scalar_ > const, Options > >::so2 ( )
inlineinherited

Definition at line 208 of file se2.hpp.

◆ so2() [2/2]

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Sophus::SO2<Scalar> const, Options> const& Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::so2 ( ) const
inline

Definition at line 630 of file se2.hpp.

◆ translation() [1/2]

SOPHUS_FUNC TranslationType& Sophus::SE2Base< Map< Sophus::SE2< Scalar_ > const, Options > >::translation ( )
inlineinherited

Definition at line 220 of file se2.hpp.

◆ translation() [2/2]

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

Definition at line 636 of file se2.hpp.

◆ unit_complex()

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

Definition at line 235 of file se2.hpp.

◆ vee()

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

Definition at line 404 of file se2.hpp.

Member Data Documentation

◆ DoF

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

Definition at line 63 of file se2.hpp.

◆ N

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

Definition at line 68 of file se2.hpp.

◆ num_parameters

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

Definition at line 66 of file se2.hpp.

◆ so2_

template<class Scalar_ , int Options>
Map<Sophus::SO2<Scalar> const, Options> const Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::so2_
protected

Definition at line 642 of file se2.hpp.

◆ translation_

template<class Scalar_ , int Options>
Map<Sophus::Vector2<Scalar> const, Options> const Eigen::Map< Sophus::SE2< Scalar_ > const, Options >::translation_
protected

Definition at line 643 of file se2.hpp.




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