Class for SE(3) Lie Group. More...

#include <LieGroup_SE3.h>

Inheritance diagram for LieGroup< Array< _Scalar, 7, 1 > >:

Public Types
typedef internal::traits< LieGroup< Array< _Scalar, 7, 1 > > >::Coefficients	Coefficients

typedef _Scalar	Scalar

Public Types inherited from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >
typedef LieGroup< Array< _Scalar, 7, 1 > >::AdjointMatrix	AdjointMatrix

typedef LieGroup< Array< _Scalar, 7, 1 > >::Algebra	Algebra

typedef Array< _Scalar, 7, 1 >	BaseType

typedef LieGroup< Array< _Scalar, 7, 1 > >::CoAlgebra	CoAlgebra

typedef LieGroup< Array< _Scalar, 7, 1 > >::Coefficients	Coefficients

typedef internal::traits< LieGroup< Array< _Scalar, 7, 1 > > >::PlainObject	PlainObject

typedef internal::traits< LieGroup< Array< _Scalar, 7, 1 > > >::Scalar	Scalar

Public Member Functions
Coefficients &	get ()

const Coefficients &	get () const

	LieGroup ()

	LieGroup (const LieGroup &g)

	LieGroup (const Array< Scalar, 7, 1 > &g)

	LieGroup (Scalar x, Scalar y, Scalar z, Scalar qw, Scalar qx, Scalar qy, Scalar qz)

EIGEN_STRONG_INLINE	LieGroup (const typename Base::Vector3 &v, const typename Base::SO3Element &r)

template<typename Derived >
	LieGroup (const MatrixBase< Derived > &other)

Public Member Functions inherited from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >
AdjointMatrix	adjoint (void) const

Algebra	adjoint (const Algebra &) const

CoAlgebra	adjointTr (const CoAlgebra &) const

const LieGroup< Array< _Scalar, 7, 1 > > &	derived () const

LieGroup< Array< _Scalar, 7, 1 > > &	derived ()

Coefficients &	get ()

const Coefficients &	get () const

PlainObject	inverse () const

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

PlainObject	operator* (const LieGroupBase< Array< _Scalar, 7, 1 >, OtherDerived > &other) const

LieGroupBase &	operator= (const LieGroupBase< Array< _Scalar, 7, 1 >, OtherDerived > &)

Protected Types
typedef LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >	Base

Protected Attributes
Coefficients	m_coeffs

Additional Inherited Members
Static Public Member Functions inherited from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >
static PlainObject	Identity ()

Detailed Description

template<typename _Scalar>
class LieGroup< Array< _Scalar, 7, 1 > >

Class for SE(3) Lie Group.

Definition of LieGroup<Array<Scalar, 7, 1>>

Template Parameters

_Scalar the type of the underlying array

This class is a specialization of LieGroup. It adds specific constructor for SE(3).

See also: The methods are defined in LieGroupBase

Definition at line 383 of file LieGroup_SE3.h.

Member Typedef Documentation

template<typename _Scalar >

typedef LieGroupBase<Array<_Scalar, 7, 1>, LieGroup<Array<_Scalar, 7, 1> > > LieGroup< Array< _Scalar, 7, 1 > >::Base

protected

The inherited class

Definition at line 388 of file LieGroup_SE3.h.

template<typename _Scalar >

typedef internal::traits<LieGroup<Array<_Scalar, 7, 1> > >::Coefficients LieGroup< Array< _Scalar, 7, 1 > >::Coefficients

the stored coefficients

Definition at line 393 of file LieGroup_SE3.h.

template<typename _Scalar >

typedef _Scalar LieGroup< Array< _Scalar, 7, 1 > >::Scalar

The coefficients type

Definition at line 391 of file LieGroup_SE3.h.

Constructor & Destructor Documentation

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup ( )

inline

Default constructor

Definition at line 398 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup ( const LieGroup< Array< _Scalar, 7, 1 > > & g )

inline

Copy constructor

Definition at line 400 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup ( const Array< Scalar, 7, 1 > & g )

inline

Copy constructor

Definition at line 402 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup	(	Scalar	x,
		Scalar	y,
		Scalar	z,
		Scalar	qw,
		Scalar	qx,
		Scalar	qy,
		Scalar	qz
	)

inline

Constructs and initializes the displacement with $R^3$ first then $SO(3)$

Warning: Note the order of the arguments: R^3 first then qw (scalar part) while internally the coefficients are stored in the following order: [qx, qy, qz, qw x y z]

Definition at line 410 of file LieGroup_SE3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Array< _Scalar, 7, 1 > >::LieGroup	(	const typename Base::Vector3 &	v,
		const typename Base::SO3Element &	r
	)

inline

Constructs a element of SE(3) from an element of SO(3) r and R^3 v

Definition at line 421 of file LieGroup_SE3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup ( const MatrixBase< Derived > & other )

inlineexplicit

Definition at line 426 of file LieGroup_SE3.h.

Member Function Documentation

template<typename _Scalar >

Coefficients& LieGroup< Array< _Scalar, 7, 1 > >::get ( )

inline

Returns: The stored coefficients

Definition at line 429 of file LieGroup_SE3.h.

template<typename _Scalar >

const Coefficients& LieGroup< Array< _Scalar, 7, 1 > >::get ( ) const

inline

Returns: The read-only access to the stored coefficients

Definition at line 431 of file LieGroup_SE3.h.

Member Data Documentation

template<typename _Scalar >

Coefficients LieGroup< Array< _Scalar, 7, 1 > >::m_coeffs

protected

The wrapped coefficients

Definition at line 435 of file LieGroup_SE3.h.

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

LieGroup_SE3.h

Public Types

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar> class LieGroup< Array< _Scalar, 7, 1 > >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename _Scalar>
class LieGroup< Array< _Scalar, 7, 1 > >