sophus.se2.Se2 Class Reference

Public Member Functions
def	__getitem__ (self, key)
def	__init__ (self, so2, t)
def	__mul__ (self, right)
def	__repr__ (self)
def	calc_Dx_this_mul_exp_x_at_0 (self, x)
def	log (self)
def	matrix (self)

Static Public Member Functions
def	calc_Dx_exp_x (x)
def	calc_Dx_exp_x_at_0 (x)
def	calc_Dxi_exp_x_matrix (x, i)
def	calc_Dxi_exp_x_matrix_at_0 (x, i)
def	calc_Dxi_x_matrix (x, i)
def	Dx_exp_x_at_0 ()
def	Dxi_exp_x_matrix (x, i)
def	Dxi_exp_x_matrix_at_0 (i)
def	Dxi_x_matrix (x, i)
def	exp (v)
def	hat (v)

Public Attributes
	so2
	t

Detailed Description

2 dimensional group of rigid body transformations 

Definition at line 8 of file se2.py.

Constructor & Destructor Documentation

__init__()

def sophus.se2.Se2.__init__	(		self,
			so2,
			t
	)

internally represented by a unit complex number z and a translation
    2-vector 

Definition at line 11 of file se2.py.

Member Function Documentation

__getitem__()

def sophus.se2.Se2.__getitem__	(		self,
			key
	)

We use the following convention [q0, q1, q2, q3, t0, t1, t2] 

Definition at line 67 of file se2.py.

__mul__()

def sophus.se2.Se2.__mul__	(		self,
			right
	)

left-multiplication
    either rotation concatenation or point-transform 

Definition at line 56 of file se2.py.

__repr__()

def sophus.se2.Se2.__repr__

(

self

)

Definition at line 40 of file se2.py.

calc_Dx_exp_x()

def sophus.se2.Se2.calc_Dx_exp_x (   x )

static

Definition at line 76 of file se2.py.

calc_Dx_exp_x_at_0()

def sophus.se2.Se2.calc_Dx_exp_x_at_0 (   x )

static

Definition at line 94 of file se2.py.

calc_Dx_this_mul_exp_x_at_0()

def sophus.se2.Se2.calc_Dx_this_mul_exp_x_at_0	(		self,
			x
	)

Definition at line 87 of file se2.py.

calc_Dxi_exp_x_matrix()

def sophus.se2.Se2.calc_Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 120 of file se2.py.

calc_Dxi_exp_x_matrix_at_0()

def sophus.se2.Se2.calc_Dxi_exp_x_matrix_at_0 (   x,   i  )

static

Definition at line 131 of file se2.py.

calc_Dxi_x_matrix()

def sophus.se2.Se2.calc_Dxi_x_matrix (   x,   i  )

static

Definition at line 108 of file se2.py.

Dx_exp_x_at_0()

def sophus.se2.Se2.Dx_exp_x_at_0 ( )

static

Definition at line 81 of file se2.py.

Dxi_exp_x_matrix()

def sophus.se2.Se2.Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 113 of file se2.py.

Dxi_exp_x_matrix_at_0()

def sophus.se2.Se2.Dxi_exp_x_matrix_at_0 (   i )

static

Definition at line 125 of file se2.py.

Dxi_x_matrix()

def sophus.se2.Se2.Dxi_x_matrix (   x,   i  )

static

Definition at line 98 of file se2.py.

exp()

def sophus.se2.Se2.exp (   v )

static

exponential map 

Definition at line 18 of file se2.py.

hat()

def sophus.se2.Se2.hat (   v )

static

Definition at line 44 of file se2.py.

log()

def sophus.se2.Se2.log

(

self

)

Definition at line 30 of file se2.py.

matrix()

def sophus.se2.Se2.matrix

(

self

)

returns matrix representation 

Definition at line 51 of file se2.py.

Member Data Documentation

so2

sophus.se2.Se2.so2

Definition at line 14 of file se2.py.

t

sophus.se2.Se2.t

Definition at line 15 of file se2.py.

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

• se2.py