DisplacementBase< Derived > Class Template Reference

Base class describing a rigid Displacement or a 3D Frame position. More...

#include <Displacement.h>

Inheritance diagram for DisplacementBase< Derived >:

List of all members.

Public Types
typedef Base::BaseType	BaseType
typedef Base::PlainObject	PlainObject
typedef LieGroup< Quaternion < Scalar > >	Rotation3D
typedef internal::traits < Derived >::Scalar	Scalar
typedef Matrix< Scalar, 3, 1 >	Vector3
Public Member Functions
template<typename NewScalarType >
internal::cast_return_type < Derived, Displacement < NewScalarType > >::type	cast () const
Map< Rotation3D >	getRotation ()
const Map< const Rotation3D >	getRotation () const
Map< Vector3 >	getTranslation ()
const Map< const Vector3 >	getTranslation () const
EIGEN_STRONG_INLINE DisplacementBase &	operator= (const typename Base::PlainObject &g)
Scalar	qw () const
Scalar &	qw ()
Scalar	qx () const
Scalar &	qx ()
Scalar	qy () const
Scalar &	qy ()
Scalar	qz () const
Scalar &	qz ()
void	setRandom ()
Matrix< Scalar, 4, 4 >	toHomogeneousMatrix () const
Scalar	x () const
Scalar &	x ()
Scalar	y () const
Scalar &	y ()
Scalar	z () const
Scalar &	z ()
Protected Types
typedef LieGroupBase< Array < Scalar, 7, 1 >, Derived >	Base
Friends
template<class OtherDerived >
std::ostream &	operator<< (std::ostream &os, const DisplacementBase< OtherDerived > &d)

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Detailed Description

template<class Derived>
class DisplacementBase< Derived >

Base class describing a rigid Displacement or a 3D Frame position.

Template Parameters:

Derived

the derived class holding the coefficients which are of type Array<Scalar, 7, 1> or Map<Array<Scalar, 7, 1> >

This class abstracts the underlying mathematical definition and add some accessors. It uses an Array internally to store its coefficients.

Definition at line 28 of file Displacement.h.

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Member Typedef Documentation

template<class Derived>

typedef LieGroupBase<Array<Scalar, 7, 1>, Derived> DisplacementBase< Derived >::Base [protected]

The inherited class

Reimplemented in Map< Displacement< _Scalar >, MapOptions, StrideType >, Displacement< _Scalar >, and Displacement< Scalar >.

Definition at line 34 of file Displacement.h.

template<class Derived>

typedef Base::BaseType DisplacementBase< Derived >::BaseType

The wrapped class (Array<Scalar, 7, 1>

Reimplemented from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >.

Definition at line 40 of file Displacement.h.

template<class Derived>

typedef Base::PlainObject DisplacementBase< Derived >::PlainObject

The plain object returned, while using Map<Displacement >

Reimplemented from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >.

Definition at line 42 of file Displacement.h.

template<class Derived>

typedef LieGroup<Quaternion<Scalar> > DisplacementBase< Derived >::Rotation3D

The type of the rotation part

Definition at line 47 of file Displacement.h.

template<class Derived>

typedef internal::traits<Derived>::Scalar DisplacementBase< Derived >::Scalar

The coefficients type

Reimplemented from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >.

Reimplemented in Map< Displacement< _Scalar >, MapOptions, StrideType >, Displacement< _Scalar >, and Displacement< Scalar >.

Definition at line 31 of file Displacement.h.

template<class Derived>

typedef Matrix<Scalar, 3, 1> DisplacementBase< Derived >::Vector3

The type of the translation part

Definition at line 45 of file Displacement.h.

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Member Function Documentation

template<class Derived>

template<typename NewScalarType >

internal::cast_return_type<Derived, Displacement<NewScalarType> >::type DisplacementBase< Derived >::cast

(

)

const [inline]

Returns:

*this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 100 of file Displacement.h.

template<class Derived>

Map<Rotation3D> DisplacementBase< Derived >::getRotation

(

)

[inline]

The accessor to the rotation part

Definition at line 50 of file Displacement.h.

template<class Derived>

const Map<const Rotation3D> DisplacementBase< Derived >::getRotation

(

)

const [inline]

The read-only accessor to the rotation part

Definition at line 52 of file Displacement.h.

template<class Derived>

Map<Vector3> DisplacementBase< Derived >::getTranslation

(

)

[inline]

The accessor to the translation part

Definition at line 54 of file Displacement.h.

template<class Derived>

const Map<const Vector3> DisplacementBase< Derived >::getTranslation

(

)

const [inline]

The read-only accessor to the translation part

Definition at line 56 of file Displacement.h.

template<class Derived>

EIGEN_STRONG_INLINE DisplacementBase& DisplacementBase< Derived >::operator=

(

const typename Base::PlainObject &

g

)

[inline]

Definition at line 106 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::qw

(

)

const [inline]

Returns:

the qw coefficient

Definition at line 72 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::qw

(

)

[inline]

Returns:

a reference to the qw coefficient

Definition at line 87 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::qx

(

)

const [inline]

Returns:

the qx coefficient

Definition at line 66 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::qx

(

)

[inline]

Returns:

a reference to the qx coefficient

Definition at line 81 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::qy

(

)

const [inline]

Returns:

the qy coefficient

Definition at line 68 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::qy

(

)

[inline]

Returns:

a reference to the qy coefficient

Definition at line 83 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::qz

(

)

const [inline]

Returns:

the qz coefficient

Definition at line 70 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::qz

(

)

[inline]

Returns:

a reference to the qz coefficient

Definition at line 85 of file Displacement.h.

template<class Derived>

void DisplacementBase< Derived >::setRandom

(

)

[inline]

Definition at line 89 of file Displacement.h.

template<class Derived >

Matrix< typename internal::traits< Derived >::Scalar, 4, 4 > DisplacementBase< Derived >::toHomogeneousMatrix

(

)

const

Definition at line 119 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::x

(

)

const [inline]

Returns:

the x coefficient

Definition at line 60 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::x

(

)

[inline]

Returns:

a reference to the x coefficient

Definition at line 75 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::y

(

)

const [inline]

Returns:

the y coefficient

Definition at line 62 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::y

(

)

[inline]

Returns:

a reference to the y coefficient

Definition at line 77 of file Displacement.h.

template<class Derived>

Scalar DisplacementBase< Derived >::z

(

)

const [inline]

Returns:

the z coefficient

Definition at line 64 of file Displacement.h.

template<class Derived>

Scalar& DisplacementBase< Derived >::z

(

)

[inline]

Returns:

a reference to the z coefficient

Definition at line 79 of file Displacement.h.

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Friends And Related Function Documentation

template<class Derived>

template<class OtherDerived >

std::ostream& operator<<	(	std::ostream &	os,
		const DisplacementBase< OtherDerived > &	d
	)		[friend]

Outputs to the given stream : order : w x y z (it's different from the storage order)

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

• Displacement.h