Base class for SE(3) Lie Group. More...

#include <LieGroup_SE3.h>

Public Types
typedef Matrix< Scalar, 6, 6 >	AdjointMatrix

typedef LieAlgebra< Matrix< Scalar, 6, 1 > >	Algebra

typedef LieAlgebraDual< Matrix< Scalar, 6, 1 > >	AlgebraDual

typedef Array< Scalar, 7, 1 >	BaseType

typedef internal::traits< Derived >::Coefficients	Coefficients

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

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

typedef LieGroup< Quaternion< Scalar > >	SO3Element

typedef Matrix< Scalar, 3, 1 >	Vector3

Public Member Functions
AdjointMatrix	adjoint (void) const

template<class AlgebraDerived >
Algebra	adjoint (const LieAlgebraBase< Matrix< Scalar, 6, 1 >, AlgebraDerived > &) const

template<class AlgebraDualDerived >
AlgebraDual	adjointTr (const LieAlgebraDualBase< Matrix< Scalar, 6, 1 >, AlgebraDualDerived > &) const

const Derived &	derived () const

Derived &	derived ()

Coefficients &	get ()

const Coefficients &	get () const

Map< Vector3 >	getR3Element ()

Map< const Vector3 >	getR3Element () const

Map< SO3Element >	getSO3Element ()

Map< const SO3Element >	getSO3Element () const

EIGEN_STRONG_INLINE PlainObject	inverse () const

Algebra	log (const Scalar precision=1e-6) const

template<class OtherDerived >
PlainObject	operator* (const LieGroupBase< BaseType, OtherDerived > &other) const

template<class OtherDerived >
Vector3	operator* (const MatrixBase< OtherDerived > &d) const

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

template<class OtherDerived >
EIGEN_STRONG_INLINE LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Vector3	operator* (const MatrixBase< OtherDerived > &vec) const

template<class OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator*= (const LieGroupBase< BaseType, OtherDerived > &other)

EIGEN_STRONG_INLINE LieGroupBase &	operator= (const LieGroupBase &other)

template<class OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator= (const LieGroupBase< BaseType, OtherDerived > &other)

template<class OtherDerived >
Derived &	operator= (const MatrixBase< OtherDerived > &m)

template<class OtherDerived >
Derived &	operator= (const LieGroupBase< BaseType, OtherDerived > &other)

template<class MatrixDerived >
Derived &	operator= (const MatrixBase< MatrixDerived > &xpr)

Static Public Member Functions
static PlainObject	Identity ()

Friends
template<class OtherDerived >
std::ostream &	operator<< (std::ostream &os, const LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived > &g)

Detailed Description

template<class Derived>
class LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >

Base class for SE(3) Lie Group.

LieGroupBase<Array<Scalar, 7, 1>, Derived>

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 actually implements the methods defined in LieGroupBase<G> and add specific accessors. Since Se(3) is the semi direct product of R^3 and SO(3) many operations ar eperformed using directly the part form R^3 or SO(3)

Definition at line 37 of file LieGroup_SE3.h.

Member Typedef Documentation

template<class Derived >

typedef Matrix<Scalar, 6, 6> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::AdjointMatrix

The type of the adjoint Matrix

Definition at line 51 of file LieGroup_SE3.h.

template<class Derived >

typedef LieAlgebra<Matrix<Scalar, 6, 1> > LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Algebra

The type of the associated Algebra

Definition at line 53 of file LieGroup_SE3.h.

template<class Derived >

typedef LieAlgebraDual<Matrix<Scalar, 6, 1> > LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::AlgebraDual

The type of the dual Algebra

Definition at line 55 of file LieGroup_SE3.h.

template<class Derived >

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

The wrapped class

Definition at line 44 of file LieGroup_SE3.h.

template<class Derived >

typedef internal::traits<Derived>::Coefficients LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Coefficients

The kind of stored coefficients

Definition at line 46 of file LieGroup_SE3.h.

template<class Derived >

typedef internal::traits<Derived>::PlainObject LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::PlainObject

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

Definition at line 48 of file LieGroup_SE3.h.

template<class Derived >

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

The type of stored coefficients

Definition at line 42 of file LieGroup_SE3.h.

template<class Derived >

typedef LieGroup<Quaternion<Scalar> > LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::SO3Element

The type of an element of SO(3)

Definition at line 60 of file LieGroup_SE3.h.

template<class Derived >

typedef Matrix<Scalar, 3, 1> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Vector3

The type of an element of R^3

Definition at line 58 of file LieGroup_SE3.h.

Member Function Documentation

template<class Derived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::AdjointMatrix LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::adjoint ( void ) const

Returns: The matrix which is the adjoint representation of the element

Definition at line 318 of file LieGroup_SE3.h.

template<class Derived >

template<class AlgebraDerived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Algebra LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::adjoint ( const LieAlgebraBase< Matrix< Scalar, 6, 1 >, AlgebraDerived > & a ) const

inline

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

Definition at line 344 of file LieGroup_SE3.h.

template<class Derived >

template<class AlgebraDualDerived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::AlgebraDual LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::adjointTr ( const LieAlgebraDualBase< Matrix< Scalar, 6, 1 >, AlgebraDualDerived > & ca ) const

inline

Returns: The algebr dual which is the product of the adjoint representation and a element of the associated algebra dual

Definition at line 361 of file LieGroup_SE3.h.

template<class Derived >

const Derived& LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::derived ( ) const

inline

The read-only accessor to the derived class

Definition at line 93 of file LieGroup_SE3.h.

template<class Derived >

Derived& LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::derived ( )

inline

The accessor to the derived class

Definition at line 95 of file LieGroup_SE3.h.

template<class Derived >

Coefficients& LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::get ( )

inline

Returns: The stored coefficients by the derived class

Definition at line 108 of file LieGroup_SE3.h.

template<class Derived >

const Coefficients& LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::get ( ) const

inline

Returns: The read-only access to the stored coefficients by the derived class

Definition at line 110 of file LieGroup_SE3.h.

template<class Derived >

Map<Vector3> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::getR3Element ( )

inline

The accessor to the R^3 element

Definition at line 103 of file LieGroup_SE3.h.

template<class Derived >

Map<const Vector3> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::getR3Element ( ) const

inline

The read-only accessor to the R^3 element

Definition at line 105 of file LieGroup_SE3.h.

template<class Derived >

Map<SO3Element> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::getSO3Element ( )

inline

The accessor to the SO(3) element

Definition at line 98 of file LieGroup_SE3.h.

template<class Derived >

Map<const SO3Element> LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::getSO3Element ( ) const

inline

The read-only accessor to the SO(3) element

Definition at line 100 of file LieGroup_SE3.h.

template<class Derived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::PlainObject LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Identity ( )

static

Returns: The plain object describing the identity element of the Lie group

Definition at line 163 of file LieGroup_SE3.h.

template<class Derived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::PlainObject LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::inverse ( ) const

Returns: a plain object describing the inverse element

Definition at line 154 of file LieGroup_SE3.h.

template<class Derived >

LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::Algebra LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::log ( const Scalar precision = 1e-6 ) const

inline

Returns: The element of the associated Algebra through the exponential map

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

Definition at line 207 of file LieGroup_SE3.h.

template<class Derived >

template<class OtherDerived >

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

inline

Returns: The plain object describing the composition of two Base elements

template<class Derived >

template<class OtherDerived >

Vector3 LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::operator* ( const MatrixBase< OtherDerived > & d ) const

inline

Returns: The transformation of v through the rigid displacement described by this element

template<class Derived >

template<class OtherDerived >

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

Definition at line 175 of file LieGroup_SE3.h.

template<class Derived >

template<class OtherDerived >

EIGEN_STRONG_INLINE LieGroupBase<Array<typename internal::traits<Derived>::Scalar, 7, 1 >, Derived>::Vector3 LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::operator* ( const MatrixBase< OtherDerived > & vec ) const

Definition at line 199 of file LieGroup_SE3.h.

template<class Derived >

template<class OtherDerived >

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

Returns: the compose in place

Definition at line 185 of file LieGroup_SE3.h.

template<class Derived >

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

inline

Default assignement operator

Definition at line 124 of file LieGroup_SE3.h.

template<class Derived >

template<class OtherDerived >

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

Assignement operator between derived type

template<class Derived >

template<class OtherDerived >

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

Assignement operator from a Matrix

template<class Derived >

template<class OtherDerived >

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

inline

Definition at line 133 of file LieGroup_SE3.h.

template<class Derived >

template<class MatrixDerived >

Derived& LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >::operator= ( const MatrixBase< MatrixDerived > & xpr )

inline

Definition at line 142 of file LieGroup_SE3.h.

Friends And Related Function Documentation

template<class Derived >

template<class OtherDerived >

std::ostream& operator<<	(	std::ostream &	os,
		const LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived > &	g
	)

friend

Outputs to the given stream : order : x y z qw qx qy qz (it's different from the storage order)

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

LieGroup_SE3.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

template<class Derived> class LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation

template<class Derived>
class LieGroupBase< Array< typename internal::traits< Derived >::Scalar, 7, 1 >, Derived >