#include <so3.hpp>
Public Types | |
using | Adjoint = typename Base::Adjoint |
using | Base = Sophus::SO3Base< Map< Sophus::SO3< 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::SO3Base< Map< Sophus::SO3< 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 Eigen::internal::traits< Map< Sophus::SO3< Scalar_ > const, Options > >::QuaternionType |
using | ReturnScalar = typename Eigen::ScalarBinaryOpTraits< Scalar, typename OtherDerived::Scalar >::ReturnType |
using | Scalar = typename Eigen::internal::traits< Map< Sophus::SO3< Scalar_ > const, Options > >::Scalar |
using | SO3Product = SO3< ReturnScalar< OtherDerived > > |
using | Tangent = Vector< Scalar, DoF > |
using | Transformation = Matrix< Scalar, N, N > |
Public Member Functions | |
SOPHUS_FUNC | Map (Scalar const *coeffs) |
SOPHUS_FUNC Map< Eigen::Quaternion< Scalar > const, Options > const & | unit_quaternion () const |
Public Member Functions inherited from Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > | |
SOPHUS_FUNC Adjoint | Adj () const |
Adjoint transformation. More... | |
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > | angleX () const |
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > | angleY () const |
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > | angleZ () const |
SOPHUS_FUNC SO3< 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 SO3< Scalar > | inverse () const |
SOPHUS_FUNC Tangent | log () const |
SOPHUS_FUNC TangentAndTheta | logAndTheta () const |
SOPHUS_FUNC Transformation | matrix () const |
SOPHUS_FUNC void | normalize () |
SOPHUS_FUNC HomogeneousPointProduct< HPointDerived > | operator* (Eigen::MatrixBase< HPointDerived > const &p) const |
Group action on homogeneous 3-points. See above for more details. More... | |
SOPHUS_FUNC PointProduct< PointDerived > | operator* (Eigen::MatrixBase< PointDerived > const &p) const |
SOPHUS_FUNC Line | operator* (Line const &l) const |
SOPHUS_FUNC SO3Product< OtherDerived > | operator* (SO3Base< OtherDerived > const &other) const |
SOPHUS_FUNC SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > & | operator*= (SO3Base< OtherDerived > const &other) |
SOPHUS_FUNC SO3Base & | operator= (SO3Base const &other)=default |
SOPHUS_FUNC SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > & | operator= (SO3Base< OtherDerived > const &other) |
SOPHUS_FUNC Sophus::Vector< Scalar, num_parameters > | params () const |
SOPHUS_FUNC void | setQuaternion (Eigen::Quaternion< Scalar > const &quaternion) |
SOPHUS_FUNC QuaternionType const & | unit_quaternion () const |
Protected Attributes | |
const Map< Eigen::Quaternion< Scalar > const, Options > | unit_quaternion_ |
Additional Inherited Members | |
Static Public Attributes inherited from Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > | |
static constexpr int | DoF |
Degrees of freedom of group, number of dimensions in tangent space. More... | |
static constexpr int | N |
Group transformations are 3x3 matrices. More... | |
static constexpr int | num_parameters |
Number of internal parameters used (quaternion is a 4-tuple). More... | |
Specialization of Eigen::Map for SO3 const
; derived from SO3Base.
Allows us to wrap SO3 objects around POD array (e.g. external c style quaternion).
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Base = Sophus::SO3Base<Map<Sophus::SO3<Scalar_> const, Options> > |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::HomogeneousPoint = typename Base::HomogeneousPoint |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Point = typename Base::Point |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Scalar = Scalar_ |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Tangent = typename Base::Tangent |
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Transformation = typename Base::Transformation |
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