Base class for the Lie Algebra se(3). More...
#include <LieAlgebra_se3.h>
Public Types | |
| typedef LieAlgebraDual< BaseType > | AlgebraDual |
| typedef Matrix< Scalar, 6, 1 > | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef internal::traits < Derived >::Group | Group |
| typedef Matrix< Scalar, 6, 6 > | Matrix6 |
| typedef LieAlgebra< BaseType > | PlainObject |
| typedef LieAlgebra< Matrix < Scalar, 3, 1 > > | so3Element |
| typedef Matrix< Scalar, 3, 1 > | Vector3 |
Public Member Functions | |
| template<class OtherDerived > | |
| PlainObject | bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const |
| Matrix< Scalar, 6, 6 > | dexp () const |
| Group | exp (const Scalar precision=1.e-6) const |
| Coefficients & | get () |
| const Coefficients & | get () const |
| Map< Vector3 > | getR3Element () |
| Map< const Vector3 > | getR3Element () const |
| Map< so3Element > | getso3Element () |
| Map< const so3Element > | getso3Element () const |
| EIGEN_STRONG_INLINE LieAlgebraBase & | operator= (const LieAlgebraBase &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, 6, 1 >, Derived >
Base class for the Lie Algebra se(3).
- Template Parameters:
-
Derived the derived class holding the coefficients which are of type Array<Scalar, 6, 1> or Map<Array<Scalar, 6, 1> >
This class actually implements methods form LieAlgebraBase for se(3). Since se(3) is the semi direct product of R^3 and so(3) many operations are performed using directly elements form R^3 or so(3)
a Lie Algebra is also a vector Space (check if it's true in the general case) that's why it's inherited from MatrixBase
Definition at line 29 of file LieAlgebra_se3.h.
Member Typedef Documentation
| typedef LieAlgebraDual<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::AlgebraDual |
The type of the dual Algebra
Definition at line 50 of file LieAlgebra_se3.h.
typedef MatrixBase<Derived> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Base [protected] |
The inherited class
Definition at line 34 of file LieAlgebra_se3.h.
| typedef Matrix<Scalar, 6, 1> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::BaseType |
The wrapped class
Definition at line 44 of file LieAlgebra_se3.h.
| typedef internal::traits<Derived>::Coefficients LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Coefficients |
The kind of stored coefficients
Definition at line 46 of file LieAlgebra_se3.h.
| typedef internal::traits<Derived>::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Group |
The type of the associated Lie Group
Definition at line 52 of file LieAlgebra_se3.h.
| typedef Matrix<Scalar, 6, 6> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Matrix6 |
The type of the matrix return by derivatives of exp
Definition at line 54 of file LieAlgebra_se3.h.
| typedef LieAlgebra<BaseType> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::PlainObject |
The plain object returned, while using Map<LieAlgebra< > >
Definition at line 48 of file LieAlgebra_se3.h.
| typedef LieAlgebra<Matrix<Scalar, 3, 1> > LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::so3Element |
The type of an element of so(3)
Definition at line 59 of file LieAlgebra_se3.h.
| typedef Matrix<Scalar, 3, 1> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Vector3 |
The type of an element of R^3
Definition at line 57 of file LieAlgebra_se3.h.
Member Function Documentation
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::PlainObject LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::bracket | ( | const LieAlgebraBase< BaseType, OtherDerived > & | a | ) | const |
Lie Bracket
Definition at line 124 of file LieAlgebra_se3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Matrix6 LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::dexp | ( | ) | const [inline] |
- Returns:
- the first derivative of exp
- See also:
- LieAlgebraBase::exp
Definition at line 153 of file LieAlgebra_se3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Group LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::exp | ( | const Scalar | precision = 1.e-6 | ) | const [inline] |
- Returns:
- The element of the associated Lie Group through the exponential map
Definition at line 144 of file LieAlgebra_se3.h.
| Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::get | ( | ) | [inline] |
- Returns:
- The stored coefficients by the derived class
Definition at line 92 of file LieAlgebra_se3.h.
| const Coefficients& LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::get | ( | ) | const [inline] |
- Returns:
- The read-only access to the stored coefficients by the derived class
Definition at line 94 of file LieAlgebra_se3.h.
| Map<Vector3> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getR3Element | ( | ) | [inline] |
The accessor to the R^3 element
Definition at line 87 of file LieAlgebra_se3.h.
| Map<const Vector3> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getR3Element | ( | ) | const [inline] |
The read-only accessor to the R^3 element
Definition at line 89 of file LieAlgebra_se3.h.
| Map<so3Element> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getso3Element | ( | ) | [inline] |
The accessor to the so(3) element
Definition at line 83 of file LieAlgebra_se3.h.
| Map<const so3Element> LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getso3Element | ( | ) | const [inline] |
The read-only accessor to the so(3) element
Definition at line 85 of file LieAlgebra_se3.h.
| LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived > & LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::operator= | ( | const LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived > & | other | ) | [inline] |
Default assignement operator
Definition at line 104 of file LieAlgebra_se3.h.
| Derived & LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::operator= | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
Assignement operator between derived type
Definition at line 113 of file LieAlgebra_se3.h.
The documentation for this class was generated from the following file: