g2o::SE3Quat Class Reference

#include <se3quat.h>

Inheritance diagram for g2o::SE3Quat:

List of all members.

Public Member Functions
Matrix< double, 6, 6 >	adj () const
void	fromMinimalVector (const Vector6d &v)
void	fromVector (const Vector7d &v)
SE3Quat	inverse () const
Vector6d	log () const
Vector3d	map (const Vector3d &xyz) const
SE3Quat	operator* (const SE3Quat &tr2) const
Vector3d	operator* (const Vector3d v) const
SE3Quat &	operator*= (const SE3Quat &tr2)
double	operator[] (int i) const
double &	operator[] (int i)
const Quaterniond &	rotation () const
Quaterniond &	rotation ()
	SE3Quat ()
	SE3Quat (const Matrix3d &R, const Vector3d t)
	SE3Quat (const Quaterniond &q, const Vector3d t)
template<typename Derived >
	SE3Quat (const MatrixBase< Derived > &v)
Matrix< double, 4, 4 >	to_homogenious_matrix () const
Vector6d	toMinimalVector () const
Vector7d	toVector () const
const Vector3d &	translation () const
Vector3d &	translation ()
Static Public Member Functions
static SE3Quat	exp (const Vector6d &update)
Protected Attributes
Quaterniond	_r
Vector3d	_t

---

Detailed Description

Definition at line 32 of file se3quat.h.

---

Constructor & Destructor Documentation

g2o::SE3Quat::SE3Quat

(

)

[inline]

Definition at line 44 of file se3quat.h.

g2o::SE3Quat::SE3Quat	(	const Matrix3d &	R,
		const Vector3d	t
	)		[inline]

Definition at line 49 of file se3quat.h.

g2o::SE3Quat::SE3Quat	(	const Quaterniond &	q,
		const Vector3d	t
	)		[inline]

Definition at line 50 of file se3quat.h.

template<typename Derived >

g2o::SE3Quat::SE3Quat

(

const MatrixBase< Derived > &

v

)

[inline, explicit]

templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map<Vector6d>

Definition at line 56 of file se3quat.h.

---

Member Function Documentation

Matrix<double, 6, 6> g2o::SE3Quat::adj

(

)

const [inline]

Definition at line 242 of file se3quat.h.

static SE3Quat g2o::SE3Quat::exp

(

const Vector6d &

update

)

[inline, static]

Definition at line 204 of file se3quat.h.

void g2o::SE3Quat::fromMinimalVector

(

const Vector6d &

v

)

[inline]

Definition at line 147 of file se3quat.h.

void g2o::SE3Quat::fromVector

(

const Vector7d &

v

)

[inline]

Definition at line 131 of file se3quat.h.

SE3Quat g2o::SE3Quat::inverse

(

void

)

const [inline]

Definition at line 97 of file se3quat.h.

Vector6d g2o::SE3Quat::log

(

)

const [inline]

Definition at line 159 of file se3quat.h.

Vector3d g2o::SE3Quat::map

(

const Vector3d &

xyz

)

const [inline]

Definition at line 198 of file se3quat.h.

SE3Quat g2o::SE3Quat::operator*

(

const SE3Quat &

tr2

)

const [inline]

Definition at line 78 of file se3quat.h.

Vector3d g2o::SE3Quat::operator*

(

const Vector3d

v

)

const [inline]

Definition at line 93 of file se3quat.h.

SE3Quat& g2o::SE3Quat::operator*=

(

const SE3Quat &

tr2

)

[inline]

Definition at line 86 of file se3quat.h.

double g2o::SE3Quat::operator[]

(

int

i

)

const [inline]

Definition at line 104 of file se3quat.h.

double& g2o::SE3Quat::operator[]

(

int

i

)

[inline]

Definition at line 111 of file se3quat.h.

const Quaterniond& g2o::SE3Quat::rotation

(

)

const [inline]

Definition at line 74 of file se3quat.h.

Quaterniond& g2o::SE3Quat::rotation

(

)

[inline]

Definition at line 76 of file se3quat.h.

Matrix<double,4,4> g2o::SE3Quat::to_homogenious_matrix

(

)

const [inline]

Definition at line 253 of file se3quat.h.

Vector6d g2o::SE3Quat::toMinimalVector

(

)

const [inline]

Definition at line 136 of file se3quat.h.

Vector7d g2o::SE3Quat::toVector

(

)

const [inline]

Definition at line 119 of file se3quat.h.

const Vector3d& g2o::SE3Quat::translation

(

)

const [inline]

Definition at line 70 of file se3quat.h.

Vector3d& g2o::SE3Quat::translation

(

)

[inline]

Definition at line 72 of file se3quat.h.

---

Member Data Documentation

Quaterniond g2o::SE3Quat::_r [protected]

Definition at line 39 of file se3quat.h.

Vector3d g2o::SE3Quat::_t [protected]

Definition at line 40 of file se3quat.h.

---

The documentation for this class was generated from the following file:

• se3quat.h