Base class for the Lie algebra dual se*(3). More...
#include <LieAlgebra_se3.h>
Public Types | |
| typedef LieAlgebra< BaseType > | Algebra |
| typedef Matrix< Scalar, 6, 1 > | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef LieAlgebraDual< BaseType > | PlainObject |
| typedef LieAlgebraDual< Matrix < Scalar, 3, 1 > > | so3Element |
| typedef Matrix< Scalar, 3, 1 > | Vector3 |
Public Member Functions | |
| Coefficients & | get () |
| const Coefficients & | get () const |
| Map< Vector3 > | getR3Element () |
| Map< const Vector3 > | getR3Element () const |
| Map< so3Element > | getso3Element () |
| Map< const so3Element > | getso3Element () const |
Protected Types | |
| typedef MatrixBase< Derived > | Base |
Detailed Description
template<class Derived>
class LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >
Base class for the Lie algebra dual 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 LieAlgebraDualBase 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 dual 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 183 of file LieAlgebra_se3.h.
Member Typedef Documentation
| typedef LieAlgebra<BaseType> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Algebra |
The type of the dual Algebra
Definition at line 202 of file LieAlgebra_se3.h.
typedef MatrixBase<Derived> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Base [protected] |
The inherited class
Definition at line 186 of file LieAlgebra_se3.h.
| typedef Matrix<Scalar, 6, 1> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::BaseType |
The wrapped class
Definition at line 196 of file LieAlgebra_se3.h.
| typedef internal::traits<Derived>::Coefficients LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Coefficients |
The kind of stored coefficients
Definition at line 198 of file LieAlgebra_se3.h.
| typedef LieAlgebraDual<BaseType> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::PlainObject |
The plain object returned, while using Map<LieAlgebra< > >
Definition at line 200 of file LieAlgebra_se3.h.
| typedef LieAlgebraDual<Matrix<Scalar, 3, 1> > LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::so3Element |
The type of an element of so*(3)
Definition at line 207 of file LieAlgebra_se3.h.
| typedef Matrix<Scalar, 3, 1> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::Vector3 |
The type of an element of R^3
Definition at line 205 of file LieAlgebra_se3.h.
Member Function Documentation
| Coefficients& LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::get | ( | ) | [inline] |
- Returns:
- The stored coefficients by the derived class
Definition at line 219 of file LieAlgebra_se3.h.
| const Coefficients& LieAlgebraDualBase< 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 221 of file LieAlgebra_se3.h.
| Map<Vector3> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getR3Element | ( | ) | [inline] |
The accessor to the R^3 element
Definition at line 214 of file LieAlgebra_se3.h.
| Map<const Vector3> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getR3Element | ( | ) | const [inline] |
The read-only accessor to the R^3 element
Definition at line 216 of file LieAlgebra_se3.h.
| Map<so3Element> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getso3Element | ( | ) | [inline] |
The accessor to the so(3) element
Definition at line 210 of file LieAlgebra_se3.h.
| Map<const so3Element> LieAlgebraDualBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >::getso3Element | ( | ) | const [inline] |
The read-only accessor to the so(3) element
Definition at line 212 of file LieAlgebra_se3.h.
The documentation for this class was generated from the following file: