Public Types | Public Member Functions | Static Public Member Functions | List of all members
LieGroupBase< G, Derived > Class Template Reference

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

#include <LieGroup.h>

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 ()
 
Coefficientsget ()
 
const Coefficientsget () 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 >
LieGroupBaseoperator= (const LieGroupBase< G, OtherDerived > &)
 

Static Public Member Functions

static PlainObject Identity ()
 

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
Gthe wrapped class
Derivedthe 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.

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

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

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< > >

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

Definition at line 45 of file LieGroup.h.

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
template<class G, class Derived>
const Coefficients& LieGroupBase< G, Derived >::get ( ) const
inline
Returns
The read-only access to the stored coefficients
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


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