Eigen::Map< Sophus::SO2< Scalar_ > const, Options > Class Template Reference

#include <so2.hpp>

Inheritance diagram for Eigen::Map< Sophus::SO2< Scalar_ > const, Options >:

Public Types
using	Adjoint = typename Base::Adjoint
using	Base = Sophus::SO2Base< Map< Sophus::SO2< 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::SO2Base< Map< Sophus::SO2< Scalar_ > const, Options > >
using	Adjoint = Scalar
using	ComplexT = typename Eigen::internal::traits< Map< Sophus::SO2< Scalar_ > const, Options > >::ComplexType
using	HomogeneousPoint = Vector3< Scalar >
using	HomogeneousPointProduct = Vector3< ReturnScalar< HPointDerived > >
using	Line = ParametrizedLine2< Scalar >
using	Point = Vector2< Scalar >
using	PointProduct = Vector2< ReturnScalar< PointDerived > >
using	ReturnScalar = typename Eigen::ScalarBinaryOpTraits< Scalar, typename OtherDerived::Scalar >::ReturnType
using	Scalar = typename Eigen::internal::traits< Map< Sophus::SO2< Scalar_ > const, Options > >::Scalar
using	SO2Product = SO2< ReturnScalar< OtherDerived > >
using	Tangent = Scalar
using	Transformation = Matrix< Scalar, N, N >

Public Member Functions
SOPHUS_FUNC	Map (Scalar const *coeffs)
SOPHUS_FUNC Map< Sophus::Vector2< Scalar > const, Options > const &	unit_complex () const
Public Member Functions inherited from Sophus::SO2Base< Map< Sophus::SO2< Scalar_ > const, Options > >
SOPHUS_FUNC Adjoint	Adj () const
SOPHUS_FUNC SO2< NewScalarType >	cast () const
SOPHUS_FUNC Scalar *	data ()
SOPHUS_FUNC Scalar const *	data () const
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoF >	Dx_this_mul_exp_x_at_0 () const
SOPHUS_FUNC SO2< Scalar >	inverse () const
SOPHUS_FUNC Scalar	log () const
SOPHUS_FUNC Transformation	matrix () 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 SO2Product< OtherDerived >	operator* (SO2Base< OtherDerived > const &other) const
SOPHUS_FUNC SO2Base< Map< Sophus::SO2< Scalar_ > const, Options > >	operator*= (SO2Base< OtherDerived > const &other)
SOPHUS_FUNC SO2Base &	operator= (SO2Base const &other)=default
SOPHUS_FUNC SO2Base< Map< Sophus::SO2< Scalar_ > const, Options > > &	operator= (SO2Base< OtherDerived > const &other)
SOPHUS_FUNC Sophus::Vector< Scalar, num_parameters >	params () const
SOPHUS_FUNC void	setComplex (Point const &complex)
SOPHUS_FUNC ComplexT const &	unit_complex () const

Protected Attributes
const Map< Matrix< Scalar, 2, 1 > const, Options >	unit_complex_

Additional Inherited Members
Static Public Attributes inherited from Sophus::SO2Base< Map< Sophus::SO2< Scalar_ > const, Options > >
static constexpr int	DoF
static constexpr int	N
	Group transformations are 2x2 matrices. More...
static constexpr int	num_parameters
	Number of internal parameters used (complex numbers are a tuples). More...

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SO2< Scalar_ > const, Options >

Specialization of Eigen::Map for SO2 const; derived from SO2Base.

Allows us to wrap SO2 objects around POD array (e.g. external c style complex number / tuple).

Definition at line 591 of file so2.hpp.

Member Typedef Documentation

Adjoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint

Definition at line 600 of file so2.hpp.

Base

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Base = Sophus::SO2Base<Map<Sophus::SO2<Scalar_> const, Options> >

Definition at line 594 of file so2.hpp.

HomogeneousPoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::HomogeneousPoint = typename Base::HomogeneousPoint

Definition at line 598 of file so2.hpp.

Point

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Point = typename Base::Point

Definition at line 597 of file so2.hpp.

Scalar

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Scalar = Scalar_

Definition at line 595 of file so2.hpp.

Tangent

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Tangent = typename Base::Tangent

Definition at line 599 of file so2.hpp.

Transformation

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Transformation = typename Base::Transformation

Definition at line 596 of file so2.hpp.

Constructor & Destructor Documentation

Map()

template<class Scalar_ , int Options>

SOPHUS_FUNC Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::Map ( Scalar const *  coeffs )

inline

Definition at line 605 of file so2.hpp.

Member Function Documentation

unit_complex()

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::Vector2<Scalar> const, Options> const& Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::unit_complex ( ) const

inline

Accessor of unit complex number.

Definition at line 609 of file so2.hpp.

Member Data Documentation

unit_complex_

template<class Scalar_ , int Options>

const Map<Matrix<Scalar, 2, 1> const, Options> Eigen::Map< Sophus::SO2< Scalar_ > const, Options >::unit_complex_

protected

Mutator of unit_complex is protected to ensure class invariant.

Definition at line 617 of file so2.hpp.

---

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

• so2.hpp