Base class for SO(3) Lie Group. More...
#include <LieGroup_SO3.h>
Public Types | |
typedef Matrix< Scalar, 3, 3 > | AdjointMatrix |
typedef LieAlgebra< Matrix < Scalar, 3, 1 > > | Algebra |
typedef LieAlgebraDual< Matrix < Scalar, 3, 1 > > | AlgebraDual |
typedef Quaternion< Scalar > | BaseType |
typedef internal::traits < Derived >::Coefficients | Coefficients |
typedef LieGroup< Quaternion < Scalar > > | PlainObject |
typedef internal::traits < Derived >::Scalar | Scalar |
Public Member Functions | |
AdjointMatrix | adjoint (void) const |
template<class AlgebraDerived > | |
Algebra | adjoint (const LieAlgebraBase< Matrix< Scalar, 3, 1 >, AlgebraDerived > &) const |
template<class AlgebraDualDerived > | |
AlgebraDual | adjointTr (const LieAlgebraDualBase< Matrix< Scalar, 3, 1 >, AlgebraDualDerived > &) const |
template<typename NewScalarType > | |
internal::cast_return_type < Derived, LieGroup < Quaternion< NewScalarType > > >::type | cast () const |
const Derived & | derived () const |
Derived & | derived () |
Coefficients & | get () |
const Coefficients & | get () const |
EIGEN_STRONG_INLINE PlainObject | inverse () const |
Algebra | log (const Scalar precision=1e-6) const |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE PlainObject | operator* (const LieGroupBase< BaseType, OtherDerived > &other) const |
template<class MatrixDerived > | |
EIGEN_STRONG_INLINE Matrix < Scalar, 3, 1 > | operator* (const MatrixBase< MatrixDerived > &v) const |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE LieGroupBase< Quaternion < typename internal::traits < Derived >::Scalar >, Derived > ::PlainObject | operator* (const LieGroupBase< Quaternion< Scalar >, OtherDerived > &other) const |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE Derived & | operator*= (const LieGroupBase< BaseType, OtherDerived > &other) |
EIGEN_STRONG_INLINE LieGroupBase & | operator= (const LieGroupBase &other) |
template<class OtherDerived > | |
EIGEN_STRONG_INLINE Derived & | operator= (const LieGroupBase< BaseType, OtherDerived > &other) |
template<class OtherDerived > | |
Derived & | operator= (const MatrixBase< OtherDerived > &m) |
const VectorBlock < Coefficients, 3 > | vec () const |
VectorBlock< Coefficients, 3 > | vec () |
Scalar | w () const |
Scalar & | w () |
Scalar | x () const |
Scalar & | x () |
Scalar | y () const |
Scalar & | y () |
Scalar | z () const |
Scalar & | z () |
Static Public Member Functions | |
static PlainObject | Identity () |
Base class for SO(3) Lie Group.
LieGroupBase<Quaternion, Derived>
Derived | the derived class holding the coefficients which are of type Quaternion<Scalar> or Map<Quaternion<Scalar> > |
This class actually implements methods form LieGroupBase for SO(3)
Definition at line 28 of file LieGroup_SO3.h.
typedef Matrix<Scalar, 3, 3> LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::AdjointMatrix |
The type of the adjoint Matrix
Definition at line 42 of file LieGroup_SO3.h.
typedef LieAlgebra<Matrix<Scalar, 3, 1> > LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::Algebra |
The type of the associated Algebra
Definition at line 44 of file LieGroup_SO3.h.
typedef LieAlgebraDual<Matrix<Scalar, 3, 1> > LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::AlgebraDual |
The type of the dual Algebra
Definition at line 46 of file LieGroup_SO3.h.
typedef Quaternion<Scalar> LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::BaseType |
The wrapped class
Definition at line 35 of file LieGroup_SO3.h.
typedef internal::traits<Derived>::Coefficients LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::Coefficients |
The kind of stored coefficients
Definition at line 37 of file LieGroup_SO3.h.
typedef LieGroup<Quaternion<Scalar> > LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::PlainObject |
The plain object returned, while using Map<LieGroup< > >
Definition at line 39 of file LieGroup_SO3.h.
typedef internal::traits<Derived>::Scalar LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::Scalar |
The type of stored coefficients
Definition at line 33 of file LieGroup_SO3.h.
LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::AdjointMatrix LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::adjoint | ( | void | ) | const [inline] |
Definition at line 202 of file LieGroup_SO3.h.
Algebra LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::adjoint | ( | const LieAlgebraBase< Matrix< Scalar, 3, 1 >, AlgebraDerived > & | ) | const [inline] |
AlgebraDual LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::adjointTr | ( | const LieAlgebraDualBase< Matrix< Scalar, 3, 1 >, AlgebraDualDerived > & | ) | const [inline] |
internal::cast_return_type<Derived, LieGroup<Quaternion<NewScalarType> > >::type LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::cast | ( | ) | const [inline] |
*this
with scalar type casted to NewScalarType Note that if NewScalarType is equal to the current scalar type of *this
then this function smartly returns a const reference to *this
.
Definition at line 110 of file LieGroup_SO3.h.
const Derived& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::derived | ( | ) | const [inline] |
The read-only accessor to the derived class
Definition at line 81 of file LieGroup_SO3.h.
Derived& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::derived | ( | ) | [inline] |
The accessor to the derived class
Definition at line 83 of file LieGroup_SO3.h.
Coefficients& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::get | ( | ) | [inline] |
Definition at line 123 of file LieGroup_SO3.h.
const Coefficients& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::get | ( | ) | const [inline] |
Definition at line 125 of file LieGroup_SO3.h.
LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::PlainObject LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::Identity | ( | ) | [static] |
Definition at line 162 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::PlainObject LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::inverse | ( | ) | const |
Definition at line 154 of file LieGroup_SO3.h.
LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::Algebra LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::log | ( | const Scalar | precision = 1e-6 | ) | const |
Definition at line 188 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE PlainObject LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator* | ( | const LieGroupBase< BaseType, OtherDerived > & | other | ) | const |
EIGEN_STRONG_INLINE Matrix<Scalar, 3, 1> LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator* | ( | const MatrixBase< MatrixDerived > & | v | ) | const [inline] |
v
through the rotation described by this element Definition at line 57 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE LieGroupBase<Quaternion<typename internal::traits<Derived>::Scalar>, Derived>::PlainObject LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator* | ( | const LieGroupBase< Quaternion< Scalar >, OtherDerived > & | other | ) | const |
Definition at line 170 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE Derived & LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator*= | ( | const LieGroupBase< BaseType, OtherDerived > & | other | ) |
Definition at line 179 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived > & LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator= | ( | const LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived > & | other | ) |
Default assignement operator
Definition at line 135 of file LieGroup_SO3.h.
EIGEN_STRONG_INLINE Derived & LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator= | ( | const LieGroupBase< BaseType, OtherDerived > & | other | ) |
Assignement operator between derived type
Definition at line 145 of file LieGroup_SO3.h.
Derived& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::operator= | ( | const MatrixBase< OtherDerived > & | m | ) | [inline] |
Assignement operator from a Matrix
Definition at line 78 of file LieGroup_SO3.h.
const VectorBlock<Coefficients,3> LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::vec | ( | ) | const [inline] |
Definition at line 117 of file LieGroup_SO3.h.
VectorBlock<Coefficients,3> LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::vec | ( | ) | [inline] |
Definition at line 120 of file LieGroup_SO3.h.
Scalar LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::w | ( | ) | const [inline] |
w
coefficient Definition at line 93 of file LieGroup_SO3.h.
Scalar& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::w | ( | ) | [inline] |
w
coefficient Definition at line 102 of file LieGroup_SO3.h.
Scalar LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::x | ( | ) | const [inline] |
x
coefficient Definition at line 87 of file LieGroup_SO3.h.
Scalar& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::x | ( | ) | [inline] |
x
coefficient Definition at line 96 of file LieGroup_SO3.h.
Scalar LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::y | ( | ) | const [inline] |
y
coefficient Definition at line 89 of file LieGroup_SO3.h.
Scalar& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::y | ( | ) | [inline] |
y
coefficient Definition at line 98 of file LieGroup_SO3.h.
Scalar LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::z | ( | ) | const [inline] |
z
coefficient Definition at line 91 of file LieGroup_SO3.h.
Scalar& LieGroupBase< Quaternion< typename internal::traits< Derived >::Scalar >, Derived >::z | ( | ) | [inline] |
z
coefficient Definition at line 100 of file LieGroup_SO3.h.