Sophus Namespace Reference

Namespaces
	details
	experimental
	interp_details
	test

Classes
struct	Constants
struct	Constants< float >
struct	GetScalar
struct	GetScalar< Matrix< Scalar_, M, N > >
class	Interpolator
	Interpolate between two lie group objects. More...
struct	IsFixedSizeVector
struct	IsFloatingPoint
struct	IsFloatingPoint< Matrix< Scalar, M, N > >
struct	IsUniformRandomBitGenerator
class	LieGroupTests
struct	nullopt_t
class	optional
class	PlanarInterpolator
class	PlanarRotation2Quaternion
class	RxSO2
class	RxSO2Base
class	RxSO3
class	RxSO3Base
class	SE2
class	SE2Base
class	SE3
class	SE3Base
class	SE3fFormatter
class	Sim2
class	Sim2Base
class	Sim3
class	Sim3Base
class	SlidingInterpolator
class	SO2
class	SO2Base
class	SO3
class	SO3Base
class	Tests

Typedefs
typedef typename std::enable_if< B, T >::type	enable_if_t
typedef Eigen::Hyperplane< T, 2 >	Line2
typedef Line2< double >	Line2d
typedef Line2< float >	Line2f
typedef Eigen::Matrix< Scalar, M, N >	Matrix
typedef Matrix< Scalar, 2, 2 >	Matrix2
typedef Matrix2< double >	Matrix2d
typedef Matrix2< float >	Matrix2f
typedef Matrix< Scalar, 3, 3 >	Matrix3
typedef Matrix3< double >	Matrix3d
typedef Matrix3< float >	Matrix3f
typedef Matrix< Scalar, 4, 4 >	Matrix4
typedef Matrix4< double >	Matrix4d
typedef Matrix4< float >	Matrix4f
typedef Matrix< Scalar, 6, 6 >	Matrix6
typedef Matrix6< double >	Matrix6d
typedef Matrix6< float >	Matrix6f
typedef Matrix< Scalar, 7, 7 >	Matrix7
typedef Matrix7< double >	Matrix7d
typedef Matrix7< float >	Matrix7f
typedef Eigen::ParametrizedLine< Scalar, N, Options >	ParametrizedLine
typedef ParametrizedLine< Scalar, 2, Options >	ParametrizedLine2
typedef ParametrizedLine2< double >	ParametrizedLine2d
typedef ParametrizedLine2< float >	ParametrizedLine2f
typedef ParametrizedLine< Scalar, 3, Options >	ParametrizedLine3
typedef ParametrizedLine3< double >	ParametrizedLine3d
typedef ParametrizedLine3< float >	ParametrizedLine3f
typedef Eigen::Hyperplane< T, 3 >	Plane3
typedef Plane3< double >	Plane3d
typedef Plane3< float >	Plane3f
typedef RxSO2< double >	RxSO2d
typedef RxSO2< float >	RxSO2f
typedef RxSO3< double >	RxSO3d
typedef RxSO3< float >	RxSO3f
typedef SE2< double >	SE2d
typedef SE2< float >	SE2f
typedef SE3< double >	SE3d
typedef SE3< float >	SE3f
typedef Sim2< double >	Sim2d
typedef Sim2< float >	Sim2f
typedef Sim3< double >	Sim3d
typedef Sim3< float >	Sim3f
typedef SO2< double >	SO2d
typedef SO2< float >	SO2f
typedef SO3< double >	SO3d
typedef SO3< float >	SO3f
typedef Eigen::Matrix< Scalar, M, 1, Options >	Vector
typedef Vector< Scalar, 2, Options >	Vector2
typedef Vector2< double >	Vector2d
typedef Vector2< float >	Vector2f
typedef Vector< Scalar, 3, Options >	Vector3
typedef Vector3< double >	Vector3d
typedef Vector3< float >	Vector3f
typedef Vector< Scalar, 4 >	Vector4
typedef Vector4< double >	Vector4d
typedef Vector4< float >	Vector4f
typedef Vector< Scalar, 6 >	Vector6
typedef Vector6< double >	Vector6d
typedef Vector6< float >	Vector6f
typedef Vector< Scalar, 7 >	Vector7
typedef Vector7< double >	Vector7d
typedef Vector7< float >	Vector7f

Functions
enable_if_t< std::is_same< typename SequenceContainer::value_type, SO2< Scalar > >::value, optional< typename SequenceContainer::value_type > >	average (SequenceContainer const &foo_Ts_bar)
enable_if_t< std::is_same< typename SequenceContainer::value_type, SE2< Scalar > >::value, optional< typename SequenceContainer::value_type > >	average (SequenceContainer const &foo_Ts_bar, int max_num_iterations=20)
auto	curveNumDiff (Fn curve, Scalar t, Scalar h=Constants< Scalar >::epsilonSqrt()) -> decltype(details::Curve< Scalar >::num_diff(std::move(curve), t, h))
SOPHUS_FUNC void	defaultEnsure (char const *function, char const *file, int line, char const *description, Args &&... args)
void	ensureFailed (char const *function, char const *file, int line, char const *description)
std::vector< SE2< T >, Eigen::aligned_allocator< SE2< T > > >	getTestSE2s ()
std::vector< SE3< Scalar >, Eigen::aligned_allocator< SE3< Scalar > > >	getTestSE3s ()
enable_if_t< interp_details::Traits< G >::supported, G >	interpolate (G const &foo_T_bar, G const &foo_T_baz, Scalar2 p=Scalar2(0.5f))
SOPHUS_FUNC bool	isOrthogonal (Eigen::MatrixBase< D > const &R)
SOPHUS_FUNC bool	isScaledOrthogonalAndPositive (Eigen::MatrixBase< D > const &sR)
optional< typename SequenceContainer::value_type >	iterativeMean (SequenceContainer const &foo_Ts_bar, int max_num_iterations)
Line2< T >	lineFromSE2 (SE2< T > const &T_foo_line)
Eigen::Hyperplane< T, N >	makeHyperplaneUnique (Eigen::Hyperplane< T, N > const &plane)
SOPHUS_FUNC enable_if_t< std::is_floating_point< typename D::Scalar >::value, Matrix< typename D::Scalar, D::RowsAtCompileTime, D::RowsAtCompileTime > >	makeRotationMatrix (Eigen::MatrixBase< D > const &R)
auto	maxMetric (T const &p0, T const &p1) -> decltype(details::MaxMetric< T >::impl(p0, p1))
Vector2< T >	normalFromSO2 (SO2< T > const &R_foo_line)
Vector3< T >	normalFromSO3 (SO3< T > const &R_foo_plane)
template<typename OutputStream >
OutputStream &	operator<< (OutputStream &ostream, SE3fFormatter &formatter)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const SE2< T > &se2)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const SE3< T > &se3)
Plane3< T >	planeFromSE3 (SE3< T > const &T_foo_plane)
void	processTestResult (bool passed)
Matrix3< T >	rotationFromNormal (Vector3< T > const &normal_foo, Vector3< T > xDirHint_foo=Vector3< T >(T(1), T(0), T(0)), Vector3< T > yDirHint_foo=Vector3< T >(T(0), T(1), T(0)))
SE2< T >	SE2FromLine (Line2< T > const &line_foo)
SE3< T >	SE3FromPlane (Plane3< T > const &plane_foo)
void	setElementAt (T &p, Scalar value, int i)
void	setToZero (T &p)
SO2< T >	SO2FromNormal (Vector2< T > normal_foo)
SO3< T >	SO3FromNormal (Vector3< T > const &normal_foo)
auto	squaredNorm (T const &p) -> decltype(details::SquaredNorm< T >::impl(p))
int	test_rxso2 ()
int	test_rxso3 ()
int	test_se2 ()
int	test_se3 ()
int	test_sim3 ()
int	test_so2 ()
int	test_so3 ()
Eigen::Vector3f	toPose2D (const Sophus::SE3f &pose)
	Convert a full Sophus pose into a 2 dimensional pose. More...
Sophus::SE3f	toPose3D (const Eigen::Vector3f &pose)
	Convert a 2 dimensional pose to a full Sophus pose in 3d. More...
auto	transpose (T const &p) -> decltype(details::Transpose< T >::impl(T()))
Eigen::Matrix< Scalar, N, M >	vectorFieldNumDiff (Fn vector_field, ScalarOrVector const &a, Scalar eps=Constants< Scalar >::epsilonSqrt())

Variables
constexpr nullopt_t	nullopt

Function Documentation

operator<<() [1/3]

template<typename OutputStream >

OutputStream& Sophus::operator<<	(	OutputStream &	ostream,
		SE3fFormatter &	formatter
	)

Insertion operator for sending the formatter to an output stream.

Parameters

ostream	: the output stream.
formatter	: the formatter to be inserted.

Template Parameters

OutputStream	: the type of the output stream to be inserted into.
Derived	: matrix type.

Returns

OutputStream : continue streaming with the updated output stream.

Exceptions

StandardException

: throws if the formatter has un-specified _matrix [debug mode only]

Definition at line 163 of file sophus/formatters.hpp.

operator<<() [2/3]

template<typename T >

std::ostream& Sophus::operator<<	(	std::ostream &	out,
		const SE2< T > &	se2
	)

Definition at line 72 of file helpers.hpp.

operator<<() [3/3]

template<typename T >

std::ostream& Sophus::operator<<	(	std::ostream &	out,
		const SE3< T > &	se3
	)

Definition at line 61 of file helpers.hpp.

toPose2D()

Eigen::Vector3f Sophus::toPose2D

(

const Sophus::SE3f &

pose

)

Convert a full Sophus pose into a 2 dimensional pose.

The 2d pose is a typical mobile robot 2d pose with (x, y, heading) with heading measured in radians.

toPose3D()

Sophus::SE3f Sophus::toPose3D

(

const Eigen::Vector3f &

pose

)

Convert a 2 dimensional pose to a full Sophus pose in 3d.

The 2d pose is a typical mobile robot 2d pose with (x, y, heading) with heading measured in radians.