#include <se3.hpp>

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

Public Types
using	Adjoint = typename Base::Adjoint

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

using	SE3Product = SE3< ReturnScalar< OtherDerived > >

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

using	Tangent = Vector< Scalar, DoF >

using	Transformation = Matrix< Scalar, N, N >

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

Public Member Functions
SOPHUS_FUNC	Map (Scalar const *coeffs)

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

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

Public Member Functions inherited from Sophus::SE3Base< Map< Sophus::SE3< Scalar_ > const, 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_ > const, Options > > &	operator*= (SE3Base< OtherDerived > const &other)

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

SOPHUS_FUNC SE3Base< Map< Sophus::SE3< Scalar_ > const, 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
const Map< Sophus::SO3< Scalar > const, Options >	so3_

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

Additional Inherited Members
Static Public Attributes inherited from Sophus::SE3Base< Map< Sophus::SE3< Scalar_ > const, 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_ > const, Options >

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

Allows us to wrap SE3 objects around POD array.

Definition at line 1044 of file se3.hpp.

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>

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

Definition at line 1053 of file se3.hpp.

◆ Base

template<class Scalar_ , int Options>

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

Definition at line 1047 of file se3.hpp.

◆ HomogeneousPoint

template<class Scalar_ , int Options>

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

Definition at line 1051 of file se3.hpp.

◆ Point

template<class Scalar_ , int Options>

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

Definition at line 1050 of file se3.hpp.

◆ Scalar

template<class Scalar_ , int Options>

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

Definition at line 1048 of file se3.hpp.

◆ Tangent

template<class Scalar_ , int Options>

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

Definition at line 1052 of file se3.hpp.

◆ Transformation

template<class Scalar_ , int Options>

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

Definition at line 1049 of file se3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>

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

inline

Definition at line 1058 of file se3.hpp.

Member Function Documentation

◆ so3()

template<class Scalar_ , int Options>

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

inline

Accessor of SO3

Definition at line 1064 of file se3.hpp.

◆ translation()

template<class Scalar_ , int Options>

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

inline

Accessor of translation vector

Definition at line 1070 of file se3.hpp.

Member Data Documentation

◆ so3_

template<class Scalar_ , int Options>

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

protected

Definition at line 1076 of file se3.hpp.

◆ translation_

template<class Scalar_ , int Options>

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

protected

Definition at line 1077 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_ > const, Options >

Member Typedef Documentation

◆ Adjoint

◆ Base

◆ HomogeneousPoint

◆ Point

◆ Scalar

◆ Tangent

◆ Transformation

Constructor & Destructor Documentation

◆ Map()

Member Function Documentation

◆ so3()

◆ translation()

Member Data Documentation

◆ so3_

◆ translation_

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