Base class for the Lie Algebra so(3). More...
#include <LieAlgebra_so3.h>
Public Types | |
| typedef LieAlgebraDual< BaseType > | AlgebraDual |
| typedef Matrix< Scalar, 3, 1 > | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef internal::traits < Derived >::Group | Group |
| typedef Matrix< Scalar, 3, 3 > | Matrix3 |
| typedef LieAlgebra< BaseType > | PlainObject |
Public Member Functions | |
| template<class OtherDerived > | |
| PlainObject | bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const |
| template<class OtherDerived > | |
| Matrix< Scalar, 3, 3 > | d2exp (const MatrixBase< OtherDerived > &v, Scalar precision=1.e-6, Scalar precision2=1.e-2) const |
| Matrix< Scalar, 3, 3 > | dexp (Scalar precision=1.e-6, Scalar precision2=1.e-2) const |
| Group | exp (Scalar precision=1.e-5) const |
| Coefficients & | get () |
| const Coefficients & | get () const |
| EIGEN_STRONG_INLINE LieAlgebraBase & | operator= (const LieAlgebraBase &other) |
| template<class OtherDerived > | |
| EIGEN_STRONG_INLINE Derived & | operator= (const LieAlgebraBase< BaseType, OtherDerived > &other) |
| template<class OtherDerived > | |
| EIGEN_STRONG_INLINE Derived & | operator= (const MatrixBase< OtherDerived > &other) |
Protected Types | |
| typedef MatrixBase< Derived > | Base |
Detailed Description
template<class Derived>
class LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >
Base class for the Lie Algebra so(3).
- Template Parameters:
-
Derived the derived class holding the coefficients which are of type Array<Scalar, 3, 1> or Map<Array<Scalar, 3, 1> >
This class actually implements methods form LieAlgebraBase for so(3)
Since a Lie Algebra is a vector Space (check if it's true in the general case) it's inherited from MatrixBase
Definition at line 60 of file LieAlgebra_so3.h.
Member Typedef Documentation
| typedef LieAlgebraDual<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::AlgebraDual |
The type of the dual Algebra
Definition at line 81 of file LieAlgebra_so3.h.
typedef MatrixBase<Derived> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Base [protected] |
The inherited class
Definition at line 65 of file LieAlgebra_so3.h.
| typedef Matrix<Scalar, 3, 1> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::BaseType |
The wrapped class
Definition at line 75 of file LieAlgebra_so3.h.
| typedef internal::traits<Derived>::Coefficients LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Coefficients |
The kind of stored coefficients
Definition at line 77 of file LieAlgebra_so3.h.
| typedef internal::traits<Derived>::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Group |
The type of the associated Lie Group
Definition at line 83 of file LieAlgebra_so3.h.
| typedef Matrix<Scalar, 3, 3> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 |
The type of the matrix return by derivatives of exp
Definition at line 85 of file LieAlgebra_so3.h.
| typedef LieAlgebra<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::PlainObject |
The plain object returned, while using Map<LieAlgebra< > >
Definition at line 79 of file LieAlgebra_so3.h.
Member Function Documentation
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::PlainObject LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::bracket | ( | const LieAlgebraBase< BaseType, OtherDerived > & | a | ) | const [inline] |
Lie Bracket
Definition at line 147 of file LieAlgebra_so3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::d2exp | ( | const MatrixBase< OtherDerived > & | v, |
| Scalar | precision = 1.e-6, |
||
| Scalar | precision2 = 1.e-2 |
||
| ) | const [inline] |
- Returns:
- second derivative of exp along vector
v
- See also:
- LieAlgebraBase::exp
Definition at line 215 of file LieAlgebra_so3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Matrix3 LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::dexp | ( | Scalar | precision = 1.e-6, |
| Scalar | precision2 = 1.e-2 |
||
| ) | const [inline] |
- Returns:
- the first derivative of exp
- See also:
- LieAlgebraBase::exp
Definition at line 182 of file LieAlgebra_so3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::exp | ( | Scalar | precision = 1.e-5 | ) | const [inline] |
- Returns:
- The element of the associated Lie Group through the exponential map
Definition at line 162 of file LieAlgebra_so3.h.
| Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::get | ( | ) | [inline] |
- Returns:
- The stored coefficients
Definition at line 115 of file LieAlgebra_so3.h.
| const Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::get | ( | ) | const [inline] |
- Returns:
- The read-only access to the stored coefficients
Definition at line 117 of file LieAlgebra_so3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived > & LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= | ( | const LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived > & | other | ) | [inline] |
Default assignement operator
Definition at line 128 of file LieAlgebra_so3.h.
| Derived & LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= | ( | const LieAlgebraBase< BaseType, OtherDerived > & | other | ) | [inline] |
Assignement operator between derived type
Definition at line 137 of file LieAlgebra_so3.h.
| EIGEN_STRONG_INLINE Derived& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 3, 1 >, Derived >::operator= | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
Definition at line 92 of file LieAlgebra_so3.h.
The documentation for this class was generated from the following file: