#include <se3quat.h>

Public Member Functions
Matrix< double, 6, 6 >	adj () const

void	fromMinimalVector (const Vector6d &v)

void	fromVector (const Vector7d &v)

SE3Quat	inverse () const

Vector6d	log () const

Vector3d	map (const Vector3d &xyz) const

void	normalizeRotation ()

	operator Eigen::Isometry3d () const

SE3Quat	operator* (const SE3Quat &tr2) const

Vector3d	operator* (const Vector3d &v) const

SE3Quat &	operator*= (const SE3Quat &tr2)

double	operator[] (int i) const

const Quaterniond &	rotation () const

	SE3Quat ()

	SE3Quat (const Matrix3d &R, const Vector3d &t)

	SE3Quat (const Quaterniond &q, const Vector3d &t)

template<typename Derived >
	SE3Quat (const MatrixBase< Derived > &v)

void	setRotation (const Quaterniond &r_)

void	setTranslation (const Vector3d &t_)

Matrix< double, 4, 4 >	to_homogeneous_matrix () const

Vector6d	toMinimalVector () const

Vector7d	toVector () const

const Vector3d &	translation () const

Static Public Member Functions
static SE3Quat	exp (const Vector6d &update)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Quaterniond	_r

Vector3d	_t

Detailed Description

Definition at line 41 of file se3quat.h.

Constructor & Destructor Documentation

◆ SE3Quat() [1/4]

g2o::SE3Quat::SE3Quat ( )

inline

Definition at line 53 of file se3quat.h.

◆ SE3Quat() [2/4]

g2o::SE3Quat::SE3Quat	(	const Matrix3d &	R,
		const Vector3d &	t
	)

inline

Definition at line 58 of file se3quat.h.

◆ SE3Quat() [3/4]

g2o::SE3Quat::SE3Quat	(	const Quaterniond &	q,
		const Vector3d &	t
	)

inline

Definition at line 62 of file se3quat.h.

◆ SE3Quat() [4/4]

template<typename Derived >

g2o::SE3Quat::SE3Quat ( const MatrixBase< Derived > & v )

inlineexplicit

templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map<Vector6d>

Definition at line 70 of file se3quat.h.

Member Function Documentation

◆ adj()

Matrix<double, 6, 6> g2o::SE3Quat::adj ( ) const

inline

Definition at line 259 of file se3quat.h.

◆ exp()

static SE3Quat g2o::SE3Quat::exp ( const Vector6d & update )

inlinestatic

Definition at line 223 of file se3quat.h.

◆ fromMinimalVector()

void g2o::SE3Quat::fromMinimalVector ( const Vector6d & v )

inline

Definition at line 166 of file se3quat.h.

◆ fromVector()

void g2o::SE3Quat::fromVector ( const Vector7d & v )

inline

Definition at line 150 of file se3quat.h.

◆ inverse()

SE3Quat g2o::SE3Quat::inverse ( ) const

inline

Definition at line 123 of file se3quat.h.

◆ log()

Vector6d g2o::SE3Quat::log ( ) const

inline

Definition at line 178 of file se3quat.h.

◆ map()

Vector3d g2o::SE3Quat::map ( const Vector3d & xyz ) const

inline

Definition at line 217 of file se3quat.h.

◆ normalizeRotation()

void g2o::SE3Quat::normalizeRotation ( )

inline

Definition at line 280 of file se3quat.h.

◆ operator Eigen::Isometry3d()

g2o::SE3Quat::operator Eigen::Isometry3d ( ) const

inline

cast SE3Quat into an Eigen::Isometry3d

Definition at line 290 of file se3quat.h.

◆ operator*() [1/2]

SE3Quat g2o::SE3Quat::operator* ( const SE3Quat & tr2 ) const

inline

Definition at line 104 of file se3quat.h.

◆ operator*() [2/2]

Vector3d g2o::SE3Quat::operator* ( const Vector3d & v ) const

inline

Definition at line 119 of file se3quat.h.

◆ operator*=()

SE3Quat& g2o::SE3Quat::operator*= ( const SE3Quat & tr2 )

inline

Definition at line 112 of file se3quat.h.

◆ operator[]()

double g2o::SE3Quat::operator[] ( int i ) const

inline

Definition at line 130 of file se3quat.h.

◆ rotation()

const Quaterniond& g2o::SE3Quat::rotation ( ) const

inline

Definition at line 100 of file se3quat.h.

◆ setRotation()

void g2o::SE3Quat::setRotation ( const Quaterniond & r_ )

inline

Definition at line 102 of file se3quat.h.

◆ setTranslation()

void g2o::SE3Quat::setTranslation ( const Vector3d & t_ )

inline

Definition at line 98 of file se3quat.h.

◆ to_homogeneous_matrix()

Matrix<double,4,4> g2o::SE3Quat::to_homogeneous_matrix ( ) const

inline

Definition at line 270 of file se3quat.h.

◆ toMinimalVector()

Vector6d g2o::SE3Quat::toMinimalVector ( ) const

inline

Definition at line 155 of file se3quat.h.

◆ toVector()

Vector7d g2o::SE3Quat::toVector ( ) const

inline

Definition at line 138 of file se3quat.h.

◆ translation()

const Vector3d& g2o::SE3Quat::translation ( ) const

inline

Definition at line 96 of file se3quat.h.

Member Data Documentation

◆ _r

Quaterniond g2o::SE3Quat::_r

protected

Definition at line 48 of file se3quat.h.

◆ _t

Vector3d g2o::SE3Quat::_t

protected

Definition at line 49 of file se3quat.h.

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::SE3Quat::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 43 of file se3quat.h.

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

se3quat.h

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SE3Quat() [1/4]

◆ SE3Quat() [2/4]

◆ SE3Quat() [3/4]

◆ SE3Quat() [4/4]

Member Function Documentation

◆ adj()

◆ exp()

◆ fromMinimalVector()

◆ fromVector()

◆ inverse()

◆ log()

◆ map()

◆ normalizeRotation()

◆ operator Eigen::Isometry3d()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator[]()

◆ rotation()

◆ setRotation()

◆ setTranslation()

◆ to_homogeneous_matrix()

◆ toMinimalVector()

◆ toVector()

◆ translation()

Member Data Documentation

◆ _r

◆ _t

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW