Namespaces | |
details | |
interp_details | |
Classes | |
struct | Constants |
struct | Constants< float > |
struct | nullopt_t |
class | optional |
class | RxSO3 |
class | RxSO3Base |
class | SE2 |
class | SE2Base |
class | SE3 |
class | SE3Base |
class | Sim3 |
class | Sim3Base |
class | SO2 |
class | SO2Base |
class | SO3 |
class | SO3Base |
Typedefs | |
template<bool B, class T = void> | |
using | enable_if_t = typename std::enable_if< B, T >::type |
using | RxSO3d = RxSO3< double > |
using | RxSO3f = RxSO3< float > |
using | SE2d = SE2< double > |
using | SE2f = SE2< float > |
using | SE3d = SE3< double > |
using | SE3f = SE3< float > |
using | Sim3d = Sim3< double > |
using | Sim3f = Sim3< float > |
using | SO2d = SO2< double > |
using | SO2f = SO2< float > |
using | SO3d = SO3< double > |
using | SO3f = SO3< float > |
template<class Scalar , int M, int Options = 0> | |
using | Vector = Eigen::Matrix< Scalar, M, 1, Options > |
template<class Scalar , int Options = 0> | |
using | Vector2 = Vector< Scalar, 2, Options > |
using | Vector2f = Vector2< float > |
using | Vector2d = Vector2< double > |
template<class Scalar , int Options = 0> | |
using | Vector3 = Vector< Scalar, 3, Options > |
using | Vector3f = Vector3< float > |
using | Vector3d = Vector3< double > |
template<class Scalar > | |
using | Vector4 = Vector< Scalar, 4 > |
using | Vector4f = Vector4< float > |
using | Vector4d = Vector4< double > |
template<class Scalar > | |
using | Vector6 = Vector< Scalar, 6 > |
using | Vector6f = Vector6< float > |
using | Vector6d = Vector6< double > |
template<class Scalar > | |
using | Vector7 = Vector< Scalar, 7 > |
using | Vector7f = Vector7< float > |
using | Vector7d = Vector7< double > |
template<class Scalar , int M, int N> | |
using | Matrix = Eigen::Matrix< Scalar, M, N > |
template<class Scalar > | |
using | Matrix2 = Matrix< Scalar, 2, 2 > |
using | Matrix2f = Matrix2< float > |
using | Matrix2d = Matrix2< double > |
template<class Scalar > | |
using | Matrix3 = Matrix< Scalar, 3, 3 > |
using | Matrix3f = Matrix3< float > |
using | Matrix3d = Matrix3< double > |
template<class Scalar > | |
using | Matrix4 = Matrix< Scalar, 4, 4 > |
using | Matrix4f = Matrix4< float > |
using | Matrix4d = Matrix4< double > |
template<class Scalar > | |
using | Matrix6 = Matrix< Scalar, 6, 6 > |
using | Matrix6f = Matrix6< float > |
using | Matrix6d = Matrix6< double > |
template<class Scalar > | |
using | Matrix7 = Matrix< Scalar, 7, 7 > |
using | Matrix7f = Matrix7< float > |
using | Matrix7d = Matrix7< double > |
template<class T > | |
using | Plane3 = Eigen::Hyperplane< T, 3 > |
using | Plane3d = Plane3< double > |
using | Plane3f = Plane3< float > |
template<class T > | |
using | Line2 = Eigen::Hyperplane< T, 2 > |
using | Line2d = Line2< double > |
using | Line2f = Line2< float > |
Functions | |
template<class SequenceContainer > | |
optional< typename SequenceContainer::value_type > | iterativeMean (SequenceContainer const &foo_Ts_bar, int max_num_iterations) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, SO2< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, SO3< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, RxSO3< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, SE2< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar, int max_num_iterations=20) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, SE3< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar, int max_num_iterations=20) |
template<class SequenceContainer , class Scalar = typename SequenceContainer::value_type::Scalar> | |
enable_if_t< std::is_same< typename SequenceContainer::value_type, Sim3< Scalar > >::value, optional< typename SequenceContainer::value_type > > | average (SequenceContainer const &foo_Ts_bar, int max_num_iterations=20) |
template<class... Args> | |
SOPHUS_FUNC void | defaultEnsure (char const *function, char const *file, int line, char const *description, Args &&... args) |
template<class T > | |
Vector2< T > | normalFromSO2 (SO2< T > const &R_foo_line) |
template<class T > | |
SO2< T > | SO2FromNormal (Vector2< T > normal_foo) |
template<class T > | |
Vector3< T > | normalFromSO3 (SO3< T > const &R_foo_plane) |
template<class T > | |
Matrix3< T > | rotationFromNormal (Vector3< T > const &normal_foo, Vector3< T > xDirHint_foo=Vector3< T >(T(1), T(0), T(0)), Vector3< T > yDirHint_foo=Vector3< T >(T(0), T(1), T(0))) |
template<class T > | |
SO3< T > | SO3FromNormal (Vector3< T > const &normal_foo) |
template<class T > | |
Line2< T > | lineFromSE2 (SE2< T > const &T_foo_line) |
template<class T > | |
SE2< T > | SE2FromLine (Line2< T > const &line_foo) |
template<class T > | |
Plane3< T > | planeFromSE3 (SE3< T > const &T_foo_plane) |
template<class T > | |
SE3< T > | SE3FromPlane (Plane3< T > const &plane_foo) |
template<class T , int N> | |
Eigen::Hyperplane< T, N > | makeHyperplaneUnique (const Eigen::Hyperplane< T, N > &plane) |
template<class G , class Scalar2 > | |
enable_if_t< interp_details::Traits< G >::supported, G > | interpolate (G const &foo_T_bar, G const &foo_T_baz, Scalar2 p=Scalar2(0.5f)) |
void | processTestResult (bool passed) |
template<class T > | |
auto | metric (T const &p0, T const &p1) -> decltype(details::Metric< T >::impl(p0, p1)) |
template<class T > | |
auto | setToZero (T &p) -> decltype(details::SetToZero< T >::impl(p)) |
template<class T > | |
auto | squaredNorm (T const &p) -> decltype(details::SquaredNorm< T >::impl(p)) |
template<typename T > | |
auto | transpose (T const &p) -> decltype(details::Transpose< T >::impl(T())) |
Variables | |
constexpr nullopt_t | nullopt {} |
using Sophus::enable_if_t = typedef typename std::enable_if<B, T>::type |
Definition at line 201 of file common.hpp.
using Sophus::Line2 = typedef Eigen::Hyperplane<T, 2> |
using Sophus::Line2d = typedef Line2<double> |
using Sophus::Line2f = typedef Line2<float> |
using Sophus::Matrix = typedef Eigen::Matrix<Scalar, M, N> |
using Sophus::Matrix2 = typedef Matrix<Scalar, 2, 2> |
using Sophus::Matrix2d = typedef Matrix2<double> |
using Sophus::Matrix2f = typedef Matrix2<float> |
using Sophus::Matrix3 = typedef Matrix<Scalar, 3, 3> |
using Sophus::Matrix3d = typedef Matrix3<double> |
using Sophus::Matrix3f = typedef Matrix3<float> |
using Sophus::Matrix4 = typedef Matrix<Scalar, 4, 4> |
using Sophus::Matrix4d = typedef Matrix4<double> |
using Sophus::Matrix4f = typedef Matrix4<float> |
using Sophus::Matrix6 = typedef Matrix<Scalar, 6, 6> |
using Sophus::Matrix6d = typedef Matrix6<double> |
using Sophus::Matrix6f = typedef Matrix6<float> |
using Sophus::Matrix7 = typedef Matrix<Scalar, 7, 7> |
using Sophus::Matrix7d = typedef Matrix7<double> |
using Sophus::Matrix7f = typedef Matrix7<float> |
using Sophus::Plane3 = typedef Eigen::Hyperplane<T, 3> |
using Sophus::Plane3d = typedef Plane3<double> |
using Sophus::Plane3f = typedef Plane3<float> |
using Sophus::RxSO3d = typedef RxSO3<double> |
using Sophus::RxSO3f = typedef RxSO3<float> |
using Sophus::SE2d = typedef SE2<double> |
using Sophus::SE2f = typedef SE2<float> |
using Sophus::SE3d = typedef SE3<double> |
using Sophus::SE3f = typedef SE3<float> |
using Sophus::Sim3d = typedef Sim3<double> |
using Sophus::Sim3f = typedef Sim3<float> |
using Sophus::SO2d = typedef SO2<double> |
using Sophus::SO2f = typedef SO2<float> |
using Sophus::SO3d = typedef SO3<double> |
using Sophus::SO3f = typedef SO3<float> |
using Sophus::Vector = typedef Eigen::Matrix<Scalar, M, 1, Options> |
using Sophus::Vector2 = typedef Vector<Scalar, 2, Options> |
using Sophus::Vector2d = typedef Vector2<double> |
using Sophus::Vector2f = typedef Vector2<float> |
using Sophus::Vector3 = typedef Vector<Scalar, 3, Options> |
using Sophus::Vector3d = typedef Vector3<double> |
using Sophus::Vector3f = typedef Vector3<float> |
using Sophus::Vector4 = typedef Vector<Scalar, 4> |
using Sophus::Vector4d = typedef Vector4<double> |
using Sophus::Vector4f = typedef Vector4<float> |
using Sophus::Vector6 = typedef Vector<Scalar, 6> |
using Sophus::Vector6d = typedef Vector6<double> |
using Sophus::Vector6f = typedef Vector6<float> |
using Sophus::Vector7 = typedef Vector<Scalar, 7> |
using Sophus::Vector7d = typedef Vector7<double> |
using Sophus::Vector7f = typedef Vector7<float> |
enable_if_t< std::is_same<typename SequenceContainer::value_type, SO2<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar | ) |
Definition at line 52 of file average.hpp.
References begin(), mrpt::math::distance(), end(), Sophus::SO2Base< SO2< Scalar_, Options > >::exp(), Sophus::SO2Base< SO2< Scalar_, Options > >::inverse(), and SOPHUS_ENSURE.
Referenced by iterativeMean().
enable_if_t< std::is_same<typename SequenceContainer::value_type, SO3<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar | ) |
Definition at line 128 of file average.hpp.
References Sophus::details::averageUnitQuaternion(), and exprtk::details::value().
enable_if_t< std::is_same<typename SequenceContainer::value_type, RxSO3<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar | ) |
Definition at line 138 of file average.hpp.
References Sophus::details::averageUnitQuaternion(), begin(), mrpt::math::distance(), end(), SOPHUS_ENSURE, and exprtk::details::value().
enable_if_t< std::is_same<typename SequenceContainer::value_type, SE2<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar, |
int | max_num_iterations = 20 |
||
) |
Definition at line 157 of file average.hpp.
References iterativeMean(), and exprtk::details::value().
enable_if_t< std::is_same<typename SequenceContainer::value_type, SE3<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar, |
int | max_num_iterations = 20 |
||
) |
Definition at line 168 of file average.hpp.
References iterativeMean(), and exprtk::details::value().
enable_if_t< std::is_same<typename SequenceContainer::value_type, Sim3<Scalar> >::value, optional<typename SequenceContainer::value_type> > Sophus::average | ( | SequenceContainer const & | foo_Ts_bar, |
int | max_num_iterations = 20 |
||
) |
Definition at line 177 of file average.hpp.
References iterativeMean().
SOPHUS_FUNC void Sophus::defaultEnsure | ( | char const * | function, |
char const * | file, | ||
int | line, | ||
char const * | description, | ||
Args &&... | args | ||
) |
Definition at line 116 of file common.hpp.
enable_if_t<interp_details::Traits<G>::supported, G> Sophus::interpolate | ( | G const & | foo_T_bar, |
G const & | foo_T_baz, | ||
Scalar2 | p = Scalar2(0.5f) |
||
) |
Definition at line 24 of file interpolate.hpp.
References SOPHUS_ENSURE.
optional<typename SequenceContainer::value_type> Sophus::iterativeMean | ( | SequenceContainer const & | foo_Ts_bar, |
int | max_num_iterations | ||
) |
Definition at line 15 of file average.hpp.
References average(), nullopt, SOPHUS_ENSURE, and exprtk::details::value().
Referenced by average().
Definition at line 123 of file geometry.hpp.
References normalFromSO2(), Sophus::SE2< Scalar_, Options >::so2(), and Sophus::SE2< Scalar_, Options >::translation().
Eigen::Hyperplane<T, N> Sophus::makeHyperplaneUnique | ( | const Eigen::Hyperplane< T, N > & | plane | ) |
Definition at line 165 of file geometry.hpp.
auto Sophus::metric | ( | T const & | p0, |
T const & | p1 | ||
) | -> decltype(details::Metric<T>::impl(p0, p1)) |
Definition at line 127 of file types.hpp.
References Sophus::details::Metric< Scalar >::impl().
Definition at line 16 of file geometry.hpp.
References Sophus::SO2Base< SO2< Scalar_, Options > >::matrix().
Referenced by lineFromSE2().
Definition at line 38 of file geometry.hpp.
References Sophus::SO3Base< SO3< Scalar_, Options > >::matrix().
Referenced by planeFromSE3().
Definition at line 145 of file geometry.hpp.
References normalFromSO3(), Sophus::SE3< Scalar_, Options >::so3(), and Sophus::SE3< Scalar_, Options >::translation().
void Sophus::processTestResult | ( | bool | passed | ) |
Definition at line 38 of file test_macros.hpp.
Matrix3<T> Sophus::rotationFromNormal | ( | Vector3< T > const & | normal_foo, |
Vector3< T > | xDirHint_foo = Vector3<T>(T(1), T(0), T(0)) , |
||
Vector3< T > | yDirHint_foo = Vector3<T>(T(0), T(1), T(0)) |
||
) |
Definition at line 55 of file geometry.hpp.
References det(), Sophus::Constants< Scalar >::epsilon(), and SOPHUS_ENSURE.
Referenced by SO3FromNormal().
Definition at line 132 of file geometry.hpp.
References SO2FromNormal().
Definition at line 154 of file geometry.hpp.
References SO3FromNormal().
auto Sophus::setToZero | ( | T & | p | ) | -> decltype(details::SetToZero<T>::impl(p)) |
Definition at line 135 of file types.hpp.
References Sophus::details::SetToZero< Scalar >::impl().
Definition at line 26 of file geometry.hpp.
References Sophus::Constants< Scalar >::epsilon(), and SOPHUS_ENSURE.
Referenced by SE2FromLine().
Definition at line 113 of file geometry.hpp.
References rotationFromNormal().
Referenced by SE3FromPlane().
auto Sophus::squaredNorm | ( | T const & | p | ) | -> decltype(details::SquaredNorm<T>::impl(p)) |
Definition at line 142 of file types.hpp.
References Sophus::details::SquaredNorm< Scalar >::impl().
Referenced by mrpt::graphslam::computeJacobiansAndErrors(), and squareNorm().
auto Sophus::transpose | ( | T const & | p | ) | -> decltype(details::Transpose<T>::impl(T())) |
Definition at line 150 of file types.hpp.
References Sophus::details::Transpose< Scalar >::impl().
Referenced by mrpt::vision::pnp::ppnp::compute_pose(), Sophus::SO3Base< SO3< Scalar_, Options > >::normalize(), mrpt::math::CSparseMatrix::operator*=(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().
constexpr nullopt_t Sophus::nullopt {} |
Definition at line 162 of file common.hpp.
Referenced by iterativeMean().
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