Base class for the Lie Algebra so(3). More...
#include <LieAlgebra_so3.h>
Public Types | |
typedef LieAlgebraDual< BaseType > | AlgebraDual |
typedef Matrix< Scalar, 3, 1 > | BaseType |
typedef internal::traits< Derived >::Coefficients | Coefficients |
typedef internal::traits< Derived >::Group | Group |
typedef Matrix< Scalar, 3, 3 > | Matrix3 |
typedef LieAlgebra< BaseType > | PlainObject |
Public Member Functions | |
template<class OtherDerived > | |
PlainObject | bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const |
template<class OtherDerived > | |
Matrix< Scalar, 3, 3 > | d2exp (const MatrixBase< OtherDerived > &v, Scalar precision=1.e-6, Scalar precision2=1.e-2) const |
template<class OtherDerived > | |
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 | d2exp (const MatrixBase< OtherDerived > &vec, Scalar precision, Scalar precision2) const |
Matrix< Scalar, 3, 3 > | dexp (Scalar precision=1.e-6, Scalar precision2=1.e-2) const |
Group | exp (Scalar precision=1.e-5) const |
Coefficients & | get () |
const Coefficients & | get () const |
EIGEN_STRONG_INLINE LieAlgebraBase & | operator= (const LieAlgebraBase &other) |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE Derived & | operator= (const LieAlgebraBase< BaseType, OtherDerived > &other) |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE Derived & | operator= (const MatrixBase< OtherDerived > &other) |
template<class OtherDerived > | |
Derived & | operator= (const LieAlgebraBase< BaseType, OtherDerived > &other) |
Protected Types | |
typedef MatrixBase< Derived > | Base |
Base class for the Lie Algebra so(3).
Derived | the derived class holding the coefficients which are of type Array<Scalar, 3, 1> or Map<Array<Scalar, 3, 1> > |
This class actually implements methods form LieAlgebraBase for so(3)
Since a Lie Algebra is a vector Space (check if it's true in the general case) it's inherited from MatrixBase
Definition at line 60 of file LieAlgebra_so3.h.
typedef LieAlgebraDual<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::AlgebraDual |
The type of the dual Algebra
Definition at line 81 of file LieAlgebra_so3.h.
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The inherited class
Definition at line 65 of file LieAlgebra_so3.h.
typedef Matrix<Scalar, 3, 1> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::BaseType |
The wrapped class
Definition at line 75 of file LieAlgebra_so3.h.
typedef internal::traits<Derived>::Coefficients LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Coefficients |
The kind of stored coefficients
Definition at line 77 of file LieAlgebra_so3.h.
typedef internal::traits<Derived>::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Group |
The type of the associated Lie Group
Definition at line 83 of file LieAlgebra_so3.h.
typedef Matrix<Scalar, 3, 3> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 |
The type of the matrix return by derivatives of exp
Definition at line 85 of file LieAlgebra_so3.h.
typedef LieAlgebra<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::PlainObject |
The plain object returned, while using Map<LieAlgebra< > >
Definition at line 79 of file LieAlgebra_so3.h.
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Lie Bracket
Definition at line 147 of file LieAlgebra_so3.h.
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v
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Definition at line 215 of file LieAlgebra_so3.h.
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Definition at line 182 of file LieAlgebra_so3.h.
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Definition at line 162 of file LieAlgebra_so3.h.
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Definition at line 115 of file LieAlgebra_so3.h.
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Definition at line 117 of file LieAlgebra_so3.h.
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Default assignement operator
Definition at line 128 of file LieAlgebra_so3.h.
EIGEN_STRONG_INLINE Derived& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= | ( | const LieAlgebraBase< BaseType, OtherDerived > & | other | ) |
Assignement operator between derived type
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Definition at line 92 of file LieAlgebra_so3.h.
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Definition at line 137 of file LieAlgebra_so3.h.