LieGroupBase< G, Derived > Class Template Reference

Base class for all Lie Group class. More...

#include <LieGroup.h>

List of all members.

Public Types
typedef Derived::AdjointMatrix	AdjointMatrix
typedef Derived::Algebra	Algebra
typedef G	BaseType
typedef Derived::CoAlgebra	CoAlgebra
typedef Derived::Coefficients	Coefficients
typedef internal::traits < Derived >::PlainObject	PlainObject
typedef internal::traits < Derived >::Scalar	Scalar
Public Member Functions
AdjointMatrix	adjoint (void) const
Algebra	adjoint (const Algebra &) const
CoAlgebra	adjointTr (const CoAlgebra &) const
const Derived &	derived () const
Derived &	derived ()
Coefficients &	get ()
const Coefficients &	get () const
PlainObject	inverse () const
Algebra	log (const Scalar precision=1e-6) const
template<class OtherDerived >
PlainObject	operator* (const LieGroupBase< G, OtherDerived > &other) const
template<class OtherDerived >
LieGroupBase &	operator= (const LieGroupBase< G, OtherDerived > &)
Static Public Member Functions
static PlainObject	Identity ()

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Detailed Description

template<class G, class Derived>
class LieGroupBase< G, Derived >

Base class for all Lie Group class.

Definition of LieGroupBase<G, Derived>

Template Parameters:

G	the wrapped class
Derived	the derived class holding the coefficients which are of type G or Map<G>

This class must be specialized to add a new group. This class wrap an Eigen class G and define some function to describe a Lie Group.

Definition at line 39 of file LieGroup.h.

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Member Typedef Documentation

template<class G, class Derived>

typedef Derived::AdjointMatrix LieGroupBase< G, Derived >::AdjointMatrix

The type of the adjoint Matrix

Definition at line 51 of file LieGroup.h.

template<class G, class Derived>

typedef Derived::Algebra LieGroupBase< G, Derived >::Algebra

The type of the associated Algebra

Definition at line 53 of file LieGroup.h.

template<class G, class Derived>

typedef G LieGroupBase< G, Derived >::BaseType

The wrapped class

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

Definition at line 47 of file LieGroup.h.

template<class G, class Derived>

typedef Derived::CoAlgebra LieGroupBase< G, Derived >::CoAlgebra

The type of the dual Algebra

Definition at line 55 of file LieGroup.h.

template<class G, class Derived>

typedef Derived::Coefficients LieGroupBase< G, Derived >::Coefficients

The kind of stored coefficients

Reimplemented in LieGroup< Array< _Scalar, 7, 1 > >, Map< Displacement< _Scalar >, MapOptions, StrideType >, LieGroup< Quaternion< _Scalar > >, Map< const LieGroup< G >, MapOptions, StrideType >, Map< LieGroup< G >, MapOptions, StrideType >, Displacement< _Scalar >, Displacement< Scalar >, and LieGroup< G >.

Definition at line 43 of file LieGroup.h.

template<class G, class Derived>

typedef internal::traits<Derived>::PlainObject LieGroupBase< G, Derived >::PlainObject

The plain object returned, while using Map<LieGroup< > >

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

Definition at line 49 of file LieGroup.h.

template<class G, class Derived>

typedef internal::traits<Derived>::Scalar LieGroupBase< G, Derived >::Scalar

The type of stored coefficients

Reimplemented in LieGroup< Array< _Scalar, 7, 1 > >, Map< Displacement< _Scalar >, MapOptions, StrideType >, LieGroup< Quaternion< _Scalar > >, Map< const LieGroup< G >, MapOptions, StrideType >, Map< LieGroup< G >, MapOptions, StrideType >, Displacement< _Scalar >, Displacement< Scalar >, DisplacementBase< Derived >, DisplacementBase< Displacement< Scalar > >, DisplacementBase< Displacement< _Scalar > >, and DisplacementBase< Map< Displacement< _Scalar >, MapOptions, StrideType > >.

Definition at line 45 of file LieGroup.h.

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Member Function Documentation

template<class G, class Derived>

AdjointMatrix LieGroupBase< G, Derived >::adjoint

(

void

)

const

Returns:

The Matrix which is the adjoint representation of the element

template<class G, class Derived>

Algebra LieGroupBase< G, Derived >::adjoint

(

const Algebra &

)

const

Returns:

The algebra which is the product of the adjoint representation and a element of the associated algebra

template<class G, class Derived>

CoAlgebra LieGroupBase< G, Derived >::adjointTr

(

const CoAlgebra &

)

const

Returns:

The coalgebra which is the product of the adjoint representation and a element of the associated coalgebra

template<class G, class Derived>

const Derived& LieGroupBase< G, Derived >::derived

(

)

const [inline]

The read-only accessor to the derived class

Definition at line 80 of file LieGroup.h.

template<class G, class Derived>

Derived& LieGroupBase< G, Derived >::derived

(

)

[inline]

The accessor to the derived class

Definition at line 82 of file LieGroup.h.

template<class G, class Derived>

Coefficients& LieGroupBase< G, Derived >::get

(

)

[inline]

Returns:

The stored coefficients

Reimplemented in LieGroup< Array< _Scalar, 7, 1 > >, LieGroup< Quaternion< _Scalar > >, Map< Displacement< _Scalar >, MapOptions, StrideType >, Map< const LieGroup< G >, MapOptions, StrideType >, Displacement< _Scalar >, Displacement< Scalar >, Map< LieGroup< G >, MapOptions, StrideType >, and LieGroup< G >.

template<class G, class Derived>

const Coefficients& LieGroupBase< G, Derived >::get

(

)

const [inline]

Returns:

The read-only access to the stored coefficients

Reimplemented in LieGroup< Array< _Scalar, 7, 1 > >, LieGroup< Quaternion< _Scalar > >, Map< Displacement< _Scalar >, MapOptions, StrideType >, Map< const LieGroup< G >, MapOptions, StrideType >, Displacement< _Scalar >, Displacement< Scalar >, Map< LieGroup< G >, MapOptions, StrideType >, and LieGroup< G >.

template<class G, class Derived>

static PlainObject LieGroupBase< G, Derived >::Identity

(

)

[static]

Returns:

The plain object describing the identity element of the Lie group

template<class G, class Derived>

PlainObject LieGroupBase< G, Derived >::inverse

(

)

const

Returns:

a plain object describing the inverse element

template<class G, class Derived>

Algebra LieGroupBase< G, Derived >::log

(

const Scalar

precision = 1e-6

)

const

Returns:

The element of the associated Algebra through the exponential map

See also:

the exponential map is given by LieAlgebra::exp()

template<class G, class Derived>

template<class OtherDerived >

PlainObject LieGroupBase< G, Derived >::operator*

(

const LieGroupBase< G, OtherDerived > &

other

)

const

Returns:

The plain object describing the composition of two elements

template<class G, class Derived>

template<class OtherDerived >

LieGroupBase& LieGroupBase< G, Derived >::operator=

(

const LieGroupBase< G, OtherDerived > &

)

Assignement operator

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

• LieGroup.h