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

#include <LieGroup_SO3.h>

Inheritance diagram for LieGroup< Quaternion< _Scalar > >:

Public Types
typedef internal::traits< LieGroup< Quaternion< Scalar > > >::Coefficients	Coefficients

typedef _Scalar	Scalar

Public Types inherited from LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >
typedef LieGroup< Quaternion< _Scalar > >::AdjointMatrix	AdjointMatrix

typedef LieGroup< Quaternion< _Scalar > >::Algebra	Algebra

typedef Quaternion< _Scalar >	BaseType

typedef LieGroup< Quaternion< _Scalar > >::CoAlgebra	CoAlgebra

typedef LieGroup< Quaternion< _Scalar > >::Coefficients	Coefficients

typedef internal::traits< LieGroup< Quaternion< _Scalar > > >::PlainObject	PlainObject

typedef internal::traits< LieGroup< Quaternion< _Scalar > > >::Scalar	Scalar

Public Member Functions
Coefficients &	get ()

const Coefficients &	get () const

	LieGroup ()

template<class OtherDerived >
	LieGroup (const LieGroupBase< typename Base::BaseType, OtherDerived > &g)

EIGEN_STRONG_INLINE	LieGroup (const Coefficients &g)

EIGEN_STRONG_INLINE	LieGroup (const AngleAxis< Scalar > &aa)

template<class OtherDerived >
	LieGroup (Scalar w, const MatrixBase< OtherDerived > &vec)

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

template<typename Derived >
	LieGroup (const Matrix< Scalar, 4, 1 > &other)

	LieGroup (Scalar w, Scalar x, Scalar y, Scalar z)

	LieGroup (Scalar w, const Matrix< Scalar, 3, 1 > &v)

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

Algebra	adjoint (const Algebra &) const

CoAlgebra	adjointTr (const CoAlgebra &) const

const LieGroup< Quaternion< _Scalar > > &	derived () const

LieGroup< Quaternion< _Scalar > > &	derived ()

Coefficients &	get ()

const Coefficients &	get () const

PlainObject	inverse () const

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

PlainObject	operator* (const LieGroupBase< Quaternion< _Scalar >, OtherDerived > &other) const

LieGroupBase &	operator= (const LieGroupBase< Quaternion< _Scalar >, OtherDerived > &)

Protected Types
typedef LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >	Base

Protected Attributes
Coefficients	m_coeffs

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

Detailed Description

template<typename _Scalar>
class LieGroup< Quaternion< _Scalar > >

Class for SO(3) Lie Group.

Definition of LieGroup<Quaternion>

Template Parameters

_Scalar the type of the underlying quaternion

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

See also: The methods are defined in LieGroupBase

Definition at line 230 of file LieGroup_SO3.h.

Member Typedef Documentation

template<typename _Scalar >

typedef LieGroupBase<Quaternion<_Scalar>, LieGroup<Quaternion<_Scalar> > > LieGroup< Quaternion< _Scalar > >::Base

protected

The inherited class

Definition at line 235 of file LieGroup_SO3.h.

template<typename _Scalar >

typedef internal::traits<LieGroup<Quaternion<Scalar> > >::Coefficients LieGroup< Quaternion< _Scalar > >::Coefficients

the stored coefficients

Definition at line 240 of file LieGroup_SO3.h.

template<typename _Scalar >

typedef _Scalar LieGroup< Quaternion< _Scalar > >::Scalar

The coefficients type

Definition at line 238 of file LieGroup_SO3.h.

Constructor & Destructor Documentation

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup ( )

inline

Default constructor

Definition at line 245 of file LieGroup_SO3.h.

template<typename _Scalar >

template<class OtherDerived >

LieGroup< Quaternion< _Scalar > >::LieGroup ( const LieGroupBase< typename Base::BaseType, OtherDerived > & g )

inline

Copy constructor

Definition at line 247 of file LieGroup_SO3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Quaternion< _Scalar > >::LieGroup ( const Coefficients & g )

inline

Copy constructor Copy constructor

Definition at line 251 of file LieGroup_SO3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Quaternion< _Scalar > >::LieGroup ( const AngleAxis< Scalar > & aa )

inline

Definition at line 252 of file LieGroup_SO3.h.

template<typename _Scalar >

template<class OtherDerived >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		const MatrixBase< OtherDerived > &	vec
	)

inline

Constructs a element of SO(3) from a scalar w and a vector vec. The underlying quaternion is initialized with w, vec[0], vec[1], vec[2]

Definition at line 255 of file LieGroup_SO3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Quaternion< _Scalar > >::LieGroup ( const MatrixBase< Derived > & other )

inlineexplicit

Intialize from rotation matrix

Definition at line 263 of file LieGroup_SO3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Quaternion< _Scalar > >::LieGroup ( const Matrix< Scalar, 4, 1 > & other )

inlineexplicit

Definition at line 266 of file LieGroup_SO3.h.

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		Scalar	x,
		Scalar	y,
		Scalar	z
	)

inline

Constructs and initializes the quaternion $ w+xi+yj+zk $ from its four coefficients w, x, y and z.

Warning: Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

Definition at line 275 of file LieGroup_SO3.h.

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		const Matrix< Scalar, 3, 1 > &	v
	)

inline

Definition at line 276 of file LieGroup_SO3.h.

Member Function Documentation

template<typename _Scalar >

Coefficients& LieGroup< Quaternion< _Scalar > >::get ( )

inline

Returns: The stored coefficients

Definition at line 279 of file LieGroup_SO3.h.

template<typename _Scalar >

const Coefficients& LieGroup< Quaternion< _Scalar > >::get ( ) const

inline

Returns: The read-only access to the stored coefficients

Definition at line 281 of file LieGroup_SO3.h.

Member Data Documentation

template<typename _Scalar >

Coefficients LieGroup< Quaternion< _Scalar > >::m_coeffs

protected

The wrapped coefficients

Definition at line 285 of file LieGroup_SO3.h.

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

LieGroup_SO3.h

Public Types

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar> class LieGroup< Quaternion< _Scalar > >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename _Scalar>
class LieGroup< Quaternion< _Scalar > >