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

#include <Displacement.h>

Inheritance diagram for DisplacementBase< Derived >:

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 Types inherited from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >
typedef Derived::AdjointMatrix	AdjointMatrix

typedef Derived::Algebra	Algebra

typedef Array< internal::traits< Derived >::Scalar, 7, 1 >	BaseType

typedef Derived::CoAlgebra	CoAlgebra

typedef Derived::Coefficients	Coefficients

typedef internal::traits< Derived >::PlainObject	PlainObject

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

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 ()

Public Member Functions inherited from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >
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

PlainObject	operator* (const LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, OtherDerived > &other) const

LieGroupBase &	operator= (const LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, OtherDerived > &)

Protected Types
typedef LieGroupBase< Array< Scalar, 7, 1 >, Derived >	Base

Friends
template<class OtherDerived >
std::ostream &	operator<< (std::ostream &os, const DisplacementBase< OtherDerived > &d)

Additional Inherited Members
Static Public Member Functions inherited from LieGroupBase< Array< internal::traits< Derived >::Scalar, 7, 1 >, Derived >
static PlainObject	Identity ()

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.

Member Typedef Documentation

template<class Derived>

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

protected

The inherited class

Definition at line 34 of file Displacement.h.

template<class Derived>

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

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

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 >

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

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.

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.

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)

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

Displacement.h

Public Types

Public Member Functions

Protected Types

Friends

Additional Inherited Members

Detailed Description

template<class Derived> class DisplacementBase< Derived >

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation

template<class Derived>
class DisplacementBase< Derived >