#include <LieAlgebra.h>
Public Types | |
| typedef LieAlgebraDual< BaseType > | AlgebraDual |
| typedef A | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef Derived::LieGroup | Group |
| typedef LieAlgebra< BaseType > | PlainObject |
Public Member Functions | |
| template<class OtherDerived > | |
| const PlainObject | adjoint (const LieAlgebraBase< BaseType, OtherDerived > &a) const |
| template<class OtherDerived > | |
| PlainObject | bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const |
| const Derived & | derived () const |
| Derived & | derived () |
| Group | exp (Scalar precision=1.e-6) const |
| Coefficients & | get () |
| const Coefficients & | get () const |
Protected Types | |
| typedef MatrixBase< Derived > | Base |
Detailed Description
template<class A, class Derived>
class LieAlgebraBase< A, Derived >
Definition at line 34 of file LieAlgebra.h.
Member Typedef Documentation
| typedef LieAlgebraDual<BaseType> LieAlgebraBase< A, Derived >::AlgebraDual |
The type of the dual Algebra
Definition at line 53 of file LieAlgebra.h.
typedef MatrixBase<Derived> LieAlgebraBase< A, Derived >::Base [protected] |
The inherited class
Reimplemented in LieAlgebra< Matrix< _Scalar, 3, 1 > >, Map< const LieAlgebra< A >, MapOptions, StrideType >, Map< LieAlgebra< A >, MapOptions, StrideType >, LieAlgebra< Matrix< _Scalar, 6, 1 > >, Map< Twist< _Scalar >, MapOptions, StrideType >, LieAlgebra< A >, Twist< _Scalar >, TwistBase< Derived >, TwistBase< Map< Twist< _Scalar >, MapOptions, StrideType > >, and TwistBase< Twist< _Scalar > >.
Definition at line 37 of file LieAlgebra.h.
| typedef A LieAlgebraBase< A, Derived >::BaseType |
The wrapped class
Reimplemented in LieAlgebra< Matrix< _Scalar, 6, 1 > >, Twist< _Scalar >, TwistBase< Derived >, TwistBase< Map< Twist< _Scalar >, MapOptions, StrideType > >, and TwistBase< Twist< _Scalar > >.
Definition at line 47 of file LieAlgebra.h.
| typedef internal::traits<Derived>::Coefficients LieAlgebraBase< A, Derived >::Coefficients |
The kind of stored coefficients
Reimplemented in LieAlgebra< Matrix< _Scalar, 3, 1 > >, Map< const LieAlgebra< A >, MapOptions, StrideType >, Map< LieAlgebra< A >, MapOptions, StrideType >, LieAlgebra< Matrix< _Scalar, 6, 1 > >, Map< Twist< _Scalar >, MapOptions, StrideType >, LieAlgebra< A >, Twist< _Scalar >, TwistBase< Derived >, TwistBase< Map< Twist< _Scalar >, MapOptions, StrideType > >, and TwistBase< Twist< _Scalar > >.
Definition at line 49 of file LieAlgebra.h.
| typedef Derived::LieGroup LieAlgebraBase< A, Derived >::Group |
The type of the associated Lie Group
Definition at line 55 of file LieAlgebra.h.
| typedef LieAlgebra<BaseType> LieAlgebraBase< A, Derived >::PlainObject |
The plain object returned, while using Map<LieAlgebra< > >
Definition at line 51 of file LieAlgebra.h.
Member Function Documentation
| const PlainObject LieAlgebraBase< A, Derived >::adjoint | ( | const LieAlgebraBase< BaseType, OtherDerived > & | a | ) | const [inline] |
Adjoint representation of the Lie Algebra
| PlainObject LieAlgebraBase< A, Derived >::bracket | ( | const LieAlgebraBase< BaseType, OtherDerived > & | a | ) | const [inline] |
Lie Bracket
| const Derived& LieAlgebraBase< A, Derived >::derived | ( | ) | const [inline] |
The read-only accessor to the derived class
Definition at line 68 of file LieAlgebra.h.
| Derived& LieAlgebraBase< A, Derived >::derived | ( | ) | [inline] |
The accessor to the derived class
Definition at line 70 of file LieAlgebra.h.
| Group LieAlgebraBase< A, Derived >::exp | ( | Scalar | precision = 1.e-6 | ) | const |
- Returns:
- The element of the associated Lie Group through the exponential map
| Coefficients& LieAlgebraBase< A, Derived >::get | ( | ) | [inline] |
- Returns:
- The stored coefficients
Reimplemented in LieAlgebra< Matrix< _Scalar, 3, 1 > >, Map< const LieAlgebra< A >, MapOptions, StrideType >, LieAlgebra< Matrix< _Scalar, 6, 1 > >, Map< LieAlgebra< A >, MapOptions, StrideType >, Map< Twist< _Scalar >, MapOptions, StrideType >, Twist< _Scalar >, and LieAlgebra< A >.
| const Coefficients& LieAlgebraBase< A, Derived >::get | ( | ) | const [inline] |
- Returns:
- The read-only access to the stored coefficients
Reimplemented in LieAlgebra< Matrix< _Scalar, 3, 1 > >, Map< const LieAlgebra< A >, MapOptions, StrideType >, LieAlgebra< Matrix< _Scalar, 6, 1 > >, Map< LieAlgebra< A >, MapOptions, StrideType >, Map< Twist< _Scalar >, MapOptions, StrideType >, Twist< _Scalar >, and LieAlgebra< A >.
The documentation for this class was generated from the following file: