sophus.se3.Se3 Class Reference

Public Member Functions
def	__getitem__ (self, key)
def	__init__ (self, so3, t)
def	__mul__ (self, right)
def	__repr__ (self)
def	calc_Dx_this_mul_exp_x_at_0 (self, x)
def	inverse (self)
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)
def	vee (Omega)

Public Attributes
	so3
	t

Detailed Description

3 dimensional group of rigid body transformations 

Definition at line 8 of file se3.py.

Constructor & Destructor Documentation

__init__()

def sophus.se3.Se3.__init__	(		self,
			so3,
			t
	)

internally represented by a unit quaternion q and a translation
    3-vector 

Definition at line 11 of file se3.py.

Member Function Documentation

__getitem__()

def sophus.se3.Se3.__getitem__	(		self,
			key
	)

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

Definition at line 96 of file se3.py.

__mul__()

def sophus.se3.Se3.__mul__	(		self,
			right
	)

left-multiplication
    either rotation concatenation or point-transform 

Definition at line 84 of file se3.py.

__repr__()

def sophus.se3.Se3.__repr__

(

self

)

Definition at line 49 of file se3.py.

calc_Dx_exp_x()

def sophus.se3.Se3.calc_Dx_exp_x (   x )

static

Definition at line 105 of file se3.py.

calc_Dx_exp_x_at_0()

def sophus.se3.Se3.calc_Dx_exp_x_at_0 (   x )

static

Definition at line 127 of file se3.py.

calc_Dx_this_mul_exp_x_at_0()

def sophus.se3.Se3.calc_Dx_this_mul_exp_x_at_0	(		self,
			x
	)

Definition at line 119 of file se3.py.

calc_Dxi_exp_x_matrix()

def sophus.se3.Se3.calc_Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 154 of file se3.py.

calc_Dxi_exp_x_matrix_at_0()

def sophus.se3.Se3.calc_Dxi_exp_x_matrix_at_0 (   x,   i  )

static

Definition at line 165 of file se3.py.

calc_Dxi_x_matrix()

def sophus.se3.Se3.calc_Dxi_x_matrix (   x,   i  )

static

Definition at line 142 of file se3.py.

Dx_exp_x_at_0()

def sophus.se3.Se3.Dx_exp_x_at_0 ( )

static

Definition at line 110 of file se3.py.

Dxi_exp_x_matrix()

def sophus.se3.Se3.Dxi_exp_x_matrix (   x,   i  )

static

Definition at line 147 of file se3.py.

Dxi_exp_x_matrix_at_0()

def sophus.se3.Se3.Dxi_exp_x_matrix_at_0 (   i )

static

Definition at line 159 of file se3.py.

Dxi_x_matrix()

def sophus.se3.Se3.Dxi_x_matrix (   x,   i  )

static

Definition at line 132 of file se3.py.

exp()

def sophus.se3.Se3.exp (   v )

static

exponential map 

Definition at line 22 of file se3.py.

hat()

def sophus.se3.Se3.hat (   v )

static

R^6 => R^4x4  

returns 4x4-matrix representation ``Omega`` 

Definition at line 57 of file se3.py.

inverse()

def sophus.se3.Se3.inverse

(

self

)

Definition at line 52 of file se3.py.

log()

def sophus.se3.Se3.log

(

self

)

Definition at line 35 of file se3.py.

matrix()

def sophus.se3.Se3.matrix

(

self

)

returns matrix representation 

Definition at line 79 of file se3.py.

vee()

def sophus.se3.Se3.vee (   Omega )

static

R^4x4 => R^6 

returns 6-vector representation of Lie algebra 

This is the inverse of the hat-operator 

Definition at line 67 of file se3.py.

Member Data Documentation

so3

sophus.se3.Se3.so3

Definition at line 18 of file se3.py.

t

sophus.se3.Se3.t

Definition at line 19 of file se3.py.

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

• se3.py