#include <sim3.hpp>

Inheritance diagram for Eigen::Map< Sophus::Sim3< Scalar_ >, Options >:

Public Types
using	Adjoint = typename Base::Adjoint

using	Base = Sophus::Sim3Base< Map< Sophus::Sim3< 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::Sim3Base< Map< Sophus::Sim3< 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 RxSO3Type::QuaternionType

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

using	RxSO3Type = typename Eigen::internal::traits< Map< Sophus::Sim3< Scalar_ >, Options > >::RxSO3Type

using	Scalar = typename Eigen::internal::traits< Map< Sophus::Sim3< Scalar_ >, Options > >::Scalar

using	Sim3Product = Sim3< ReturnScalar< OtherDerived > >

using	Tangent = Vector< Scalar, DoF >

using	Transformation = Matrix< Scalar, N, N >

using	TranslationType = typename Eigen::internal::traits< Map< Sophus::Sim3< Scalar_ >, Options > >::TranslationType

Public Member Functions
	EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR (Map)

SOPHUS_FUNC	Map (Scalar *coeffs)

SOPHUS_FUNC Map< Sophus::RxSO3< Scalar >, Options > &	rxso3 ()

SOPHUS_FUNC Map< Sophus::RxSO3< Scalar >, Options > const &	rxso3 () const

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

SOPHUS_FUNC Map< Sophus::Vector3< Scalar >, Options > const &	translation () const
	Accessor of translation vector. More...

Public Member Functions inherited from Sophus::Sim3Base< Map< Sophus::Sim3< Scalar_ >, Options > >
SOPHUS_FUNC Adjoint	Adj () const

SOPHUS_FUNC Sim3< NewScalarType >	cast () const

SOPHUS_FUNC Sim3< Scalar >	inverse () const

SOPHUS_FUNC Tangent	log () const

SOPHUS_FUNC Transformation	matrix () const

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

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 Sim3Product< OtherDerived >	operator* (Sim3Base< OtherDerived > const &other) const

SOPHUS_FUNC Sim3Base< Map< Sophus::Sim3< Scalar_ >, Options > > &	operator*= (Sim3Base< OtherDerived > const &other)

SOPHUS_FUNC Sim3Base &	operator= (Sim3Base const &other)=default

SOPHUS_FUNC Sim3Base< Map< Sophus::Sim3< Scalar_ >, Options > > &	operator= (Sim3Base< OtherDerived > const &other)

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

SOPHUS_FUNC QuaternionType const &	quaternion () const

SOPHUS_FUNC Matrix3< Scalar >	rotationMatrix () const

SOPHUS_FUNC RxSO3Type &	rxso3 ()

SOPHUS_FUNC RxSO3Type const &	rxso3 () const

SOPHUS_FUNC Scalar	scale () const

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

SOPHUS_FUNC void	setRotationMatrix (Matrix3< Scalar > &R)

SOPHUS_FUNC void	setScale (Scalar const &scale)

SOPHUS_FUNC void	setScaledRotationMatrix (Matrix3< Scalar > const &sR)

SOPHUS_FUNC TranslationType &	translation ()

SOPHUS_FUNC TranslationType const &	translation () const

Protected Attributes
Map< Sophus::RxSO3< Scalar >, Options >	rxso3_

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

Additional Inherited Members
Static Public Attributes inherited from Sophus::Sim3Base< Map< Sophus::Sim3< 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::Sim3< Scalar_ >, Options >

Specialization of Eigen::Map for Sim3; derived from Sim3Base.

Allows us to wrap Sim3 objects around POD array.

Definition at line 655 of file sim3.hpp.

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Adjoint = typename Base::Adjoint

Definition at line 664 of file sim3.hpp.

◆ Base

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Base = Sophus::Sim3Base<Map<Sophus::Sim3<Scalar_>, Options> >

Definition at line 658 of file sim3.hpp.

◆ HomogeneousPoint

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::HomogeneousPoint = typename Base::HomogeneousPoint

Definition at line 662 of file sim3.hpp.

◆ Point

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Point = typename Base::Point

Definition at line 661 of file sim3.hpp.

◆ Scalar

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Scalar = Scalar_

Definition at line 659 of file sim3.hpp.

◆ Tangent

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Tangent = typename Base::Tangent

Definition at line 663 of file sim3.hpp.

◆ Transformation

template<class Scalar_ , int Options>

using Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Transformation = typename Base::Transformation

Definition at line 660 of file sim3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>

SOPHUS_FUNC Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::Map ( Scalar * coeffs )

inline

Definition at line 673 of file sim3.hpp.

Member Function Documentation

◆ EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR()

template<class Scalar_ , int Options>

Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR ( Map< Sophus::Sim3< Scalar_ >, Options > )

◆ rxso3() [1/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options>& Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::rxso3 ( )

inline

Mutator of RxSO3

Definition at line 679 of file sim3.hpp.

◆ rxso3() [2/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options> const& Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::rxso3 ( ) const

inline

Accessor of RxSO3

Definition at line 683 of file sim3.hpp.

◆ translation() [1/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options>& Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::translation ( )

inline

Mutator of translation vector

Definition at line 689 of file sim3.hpp.

◆ translation() [2/2]

template<class Scalar_ , int Options>

SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options> const& Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::translation ( ) const

inline

Accessor of translation vector.

Definition at line 694 of file sim3.hpp.

Member Data Documentation

◆ rxso3_

template<class Scalar_ , int Options>

Map<Sophus::RxSO3<Scalar>, Options> Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::rxso3_

protected

Definition at line 699 of file sim3.hpp.

◆ translation_

template<class Scalar_ , int Options>

Map<Sophus::Vector3<Scalar>, Options> Eigen::Map< Sophus::Sim3< Scalar_ >, Options >::translation_

protected

Definition at line 700 of file sim3.hpp.

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

sim3.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class Scalar_, int Options> class Eigen::Map< Sophus::Sim3< Scalar_ >, Options >

Member Typedef Documentation

◆ Adjoint

◆ Base

◆ HomogeneousPoint

◆ Point

◆ Scalar

◆ Tangent

◆ Transformation

Constructor & Destructor Documentation

◆ Map()

Member Function Documentation

◆ EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR()

◆ rxso3() [1/2]

◆ rxso3() [2/2]

◆ translation() [1/2]

◆ translation() [2/2]

Member Data Documentation

◆ rxso3_

◆ translation_

template<class Scalar_, int Options>
class Eigen::Map< Sophus::Sim3< Scalar_ >, Options >