Sophus Namespace Reference

Classes
class	Interpolator
	Interpolate between two lie group objects. More...
class	PlanarInterpolator
class	PlanarRotation2Quaternion
class	SE3fFormatter
class	SlidingInterpolator

Functions
template<typename T >
std::ostream &	operator<< (std::ostream &out, const SE3< T > &se3)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const SE2< T > &se2)
template<typename OutputStream >
OutputStream &	operator<< (OutputStream &ostream, SE3fFormatter &formatter)
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...

Function Documentation

operator<<() [1/3]

template<typename T >

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

Definition at line 55 of file helpers.hpp.

operator<<() [2/3]

template<typename T >

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

Definition at line 66 of file helpers.hpp.

operator<<() [3/3]

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 157 of file sophus/formatters.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.