#include <se3.hpp>

Inheritance diagram for Eigen::Map< Sophus::SE3< Scalar_ >, Options >:

Public Types
using	Adjoint = typename Base::Adjoint

using	Base = Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >

using	HomogeneousPoint = typename Base::HomogeneousPoint

using	Point = typename Base::Point

using	Scalar = Scalar_

using	Tangent = typename Base::Tangent

using	Transformation = typename Base::Transformation

Public Types inherited from Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >
using	Adjoint = Matrix< Scalar, DoF, DoF >

using	HomogeneousPoint = Vector4< Scalar >

using	HomogeneousPointProduct = Vector4< ReturnScalar< HPointDerived > >

using	Line = ParametrizedLine3< Scalar >

using	Point = Vector3< Scalar >

using	PointProduct = Vector3< ReturnScalar< PointDerived > >

using	QuaternionType = typename SO3Type::QuaternionType

using	ReturnScalar = typename Eigen::ScalarBinaryOpTraits< Scalar, typename OtherDerived::Scalar >::ReturnType

using	Scalar = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ >, Options > >::Scalar

using	SE3Product = SE3< ReturnScalar< OtherDerived > >

using	SO3Type = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ >, Options > >::SO3Type

using	Tangent = Vector< Scalar, DoF >

using	Transformation = Matrix< Scalar, N, N >

using	TranslationType = typename Eigen::internal::traits< Map< Sophus::SE3< Scalar_ >, Options > >::TranslationType

Public Member Functions
	EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR (Map)

SOPHUS_FUNC	Map (Scalar *coeffs)

SOPHUS_FUNC Map< Sophus::SO3< Scalar >, Options > &	so3 ()

SOPHUS_FUNC Map< Sophus::SO3< Scalar >, Options > const &	so3 () const

SOPHUS_FUNC Map< Sophus::Vector3< Scalar, Options > > &	translation ()

SOPHUS_FUNC Map< Sophus::Vector3< Scalar, Options > > const &	translation () const

Public Member Functions inherited from Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >
SOPHUS_FUNC Adjoint	Adj () const

Scalar	angleX () const

Scalar	angleY () const

Scalar	angleZ () const

SOPHUS_FUNC SE3< NewScalarType >	cast () const

SOPHUS_FUNC Matrix< Scalar, num_parameters, DoF >	Dx_this_mul_exp_x_at_0 () const

SOPHUS_FUNC SE3< Scalar >	inverse () const

SOPHUS_FUNC Tangent	log () const

SOPHUS_FUNC Transformation	matrix () const

SOPHUS_FUNC Matrix< Scalar, 3, 4 >	matrix3x4 () const

SOPHUS_FUNC void	normalize ()

SOPHUS_FUNC HomogeneousPointProduct< HPointDerived >	operator* (Eigen::MatrixBase< HPointDerived > const &p) const

SOPHUS_FUNC PointProduct< PointDerived >	operator* (Eigen::MatrixBase< PointDerived > const &p) const

SOPHUS_FUNC Line	operator* (Line const &l) const

SOPHUS_FUNC SE3Product< OtherDerived >	operator* (SE3Base< OtherDerived > const &other) const

SOPHUS_FUNC SE3Base< Map< Sophus::SE3< Scalar_ >, Options > > &	operator*= (SE3Base< OtherDerived > const &other)

SOPHUS_FUNC SE3Base &	operator= (SE3Base const &other)=default

SOPHUS_FUNC SE3Base< Map< Sophus::SE3< Scalar_ >, Options > > &	operator= (SE3Base< OtherDerived > const &other)

SOPHUS_FUNC Sophus::Vector< Scalar, num_parameters >	params () const

SOPHUS_FUNC Matrix3< Scalar >	rotationMatrix () const

SOPHUS_FUNC void	setQuaternion (Eigen::Quaternion< Scalar > const &quat)

SOPHUS_FUNC void	setRotationMatrix (Matrix3< Scalar > const &R)

SOPHUS_FUNC SO3Type &	so3 ()

SOPHUS_FUNC SO3Type const &	so3 () const

SOPHUS_FUNC TranslationType &	translation ()

SOPHUS_FUNC TranslationType const &	translation () const

SOPHUS_FUNC QuaternionType const &	unit_quaternion () const

Protected Attributes
Map< Sophus::SO3< Scalar >, Options >	so3_

Map< Sophus::Vector3< Scalar >, Options >	translation_

Additional Inherited Members
Static Public Attributes inherited from Sophus::SE3Base< Map< Sophus::SE3< Scalar_ >, Options > >
static constexpr int	DoF

static constexpr int	N
	Group transformations are 4x4 matrices. More...

static constexpr int	num_parameters

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SE3< Scalar_ >, Options >

Specialization of Eigen::Map for SE3; derived from SE3Base.

Allows us to wrap SE3 objects around POD array.

Definition at line 991 of file se3.hpp.

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Adjoint = typename Base::Adjoint

Definition at line 1000 of file se3.hpp.

◆ Base

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Base = Sophus::SE3Base<Map<Sophus::SE3<Scalar_>, Options> >

Definition at line 994 of file se3.hpp.

◆ HomogeneousPoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::HomogeneousPoint = typename Base::HomogeneousPoint

Definition at line 998 of file se3.hpp.

◆ Point

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Point = typename Base::Point

Definition at line 997 of file se3.hpp.

◆ Scalar

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Scalar = Scalar_

Definition at line 995 of file se3.hpp.

◆ Tangent

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Tangent = typename Base::Tangent

Definition at line 999 of file se3.hpp.

◆ Transformation

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Transformation = typename Base::Transformation

Definition at line 996 of file se3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>

SOPHUS_FUNC Eigen::Map< Sophus::SE3< Scalar_ >, Options >::Map ( Scalar * coeffs )

inline

Definition at line 1009 of file se3.hpp.

Member Function Documentation

◆ EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR()

template<class Scalar_ , int Options>

Eigen::Map< Sophus::SE3< Scalar_ >, Options >::EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR ( Map< Sophus::SE3< Scalar_ >, Options > )

◆ so3() [1/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3 ( )

inline

Mutator of SO3

Definition at line 1015 of file se3.hpp.

◆ so3() [2/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options> const& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3 ( ) const

inline

Accessor of SO3

Definition at line 1019 of file se3.hpp.

◆ translation() [1/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options> >& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation ( )

inline

Mutator of translation vector

Definition at line 1025 of file se3.hpp.

◆ translation() [2/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options> > const& Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation ( ) const

inline

Accessor of translation vector

Definition at line 1031 of file se3.hpp.

Member Data Documentation

◆ so3_

template<class Scalar_ , int Options>

Map<Sophus::SO3<Scalar>, Options> Eigen::Map< Sophus::SE3< Scalar_ >, Options >::so3_

protected

Definition at line 1036 of file se3.hpp.

◆ translation_

template<class Scalar_ , int Options>

Map<Sophus::Vector3<Scalar>, Options> Eigen::Map< Sophus::SE3< Scalar_ >, Options >::translation_

protected

Definition at line 1037 of file se3.hpp.

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

se3.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class Scalar_, int Options> class Eigen::Map< Sophus::SE3< Scalar_ >, Options >

Member Typedef Documentation

◆ Adjoint

◆ Base

◆ HomogeneousPoint

◆ Point

◆ Scalar

◆ Tangent

◆ Transformation

Constructor & Destructor Documentation

◆ Map()

Member Function Documentation

◆ EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR()

◆ so3() [1/2]

◆ so3() [2/2]

◆ translation() [1/2]

◆ translation() [2/2]

Member Data Documentation

◆ so3_

◆ translation_

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SE3< Scalar_ >, Options >