Public Types | Public Member Functions | Protected Types | List of all members
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived > Class Template Reference

Base class for the Lie Algebra so(3). More...

#include <LieAlgebra_so3.h>

Inheritance diagram for LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >:
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Public Types

typedef LieAlgebraDual< BaseTypeAlgebraDual
 
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< BaseTypePlainObject
 

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
 
Coefficientsget ()
 
const Coefficientsget () const
 
EIGEN_STRONG_INLINE LieAlgebraBaseoperator= (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
 

Detailed Description

template<class Derived>
class LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >

Base class for the Lie Algebra so(3).

Template Parameters
Derivedthe 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.

Member Typedef Documentation

template<class Derived >
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.

template<class Derived >
typedef MatrixBase<Derived> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Base
protected

The inherited class

Definition at line 65 of file LieAlgebra_so3.h.

template<class Derived >
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.

template<class Derived >
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.

template<class Derived >
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.

template<class Derived >
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.

template<class Derived >
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.

Member Function Documentation

template<class Derived >
template<class OtherDerived >
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::PlainObject LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::bracket ( const LieAlgebraBase< BaseType, OtherDerived > &  a) const
inline

Lie Bracket

Definition at line 147 of file LieAlgebra_so3.h.

template<class Derived >
template<class OtherDerived >
Matrix<Scalar, 3, 3> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::d2exp ( const MatrixBase< OtherDerived > &  v,
Scalar  precision = 1.e-6,
Scalar  precision2 = 1.e-2 
) const
inline
Returns
second derivative of exp along vector v
See also
LieAlgebraBase::exp
template<class Derived >
template<class OtherDerived >
LieAlgebraBase<Matrix<typename internal::traits<Derived>::Scalar, 3, 1>, Derived >::Matrix3 LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::d2exp ( const MatrixBase< OtherDerived > &  vec,
Scalar  precision,
Scalar  precision2 
) const
inline

Definition at line 215 of file LieAlgebra_so3.h.

template<class Derived >
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::dexp ( Scalar  precision = 1.e-6,
Scalar  precision2 = 1.e-2 
) const
inline
Returns
the first derivative of exp
See also
LieAlgebraBase::exp

Definition at line 182 of file LieAlgebra_so3.h.

template<class Derived >
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::exp ( Scalar  precision = 1.e-5) const
inline
Returns
The element of the associated Lie Group through the exponential map

Definition at line 162 of file LieAlgebra_so3.h.

template<class Derived >
Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::get ( )
inline
Returns
The stored coefficients

Definition at line 115 of file LieAlgebra_so3.h.

template<class Derived >
const Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::get ( ) const
inline
Returns
The read-only access to the stored coefficients

Definition at line 117 of file LieAlgebra_so3.h.

template<class Derived >
LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived > & LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= ( const LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived > &  other)
inline

Default assignement operator

Definition at line 128 of file LieAlgebra_so3.h.

template<class Derived >
template<class OtherDerived >
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

template<class Derived >
template<class OtherDerived >
EIGEN_STRONG_INLINE Derived& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= ( const MatrixBase< OtherDerived > &  other)
inline

Definition at line 92 of file LieAlgebra_so3.h.

template<class Derived >
template<class OtherDerived >
Derived& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= ( const LieAlgebraBase< BaseType, OtherDerived > &  other)
inline

Definition at line 137 of file LieAlgebra_so3.h.


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


lgsm
Author(s): Roberto Martín-Martín
autogenerated on Mon Jun 10 2019 14:05:59