LieGroup< Array< _Scalar, 7, 1 > > Class Template Reference

Class for SE(3) Lie Group. More...

#include <LieGroup_SE3.h>

Inheritance diagram for LieGroup< Array< _Scalar, 7, 1 > >:

List of all members.

Public Types
typedef internal::traits < LieGroup< Array< _Scalar, 7, 1 > > >::Coefficients	Coefficients
typedef _Scalar	Scalar
Public Member Functions
Coefficients &	get ()
const Coefficients &	get () const
	LieGroup ()
	LieGroup (const LieGroup &g)
	LieGroup (const Array< Scalar, 7, 1 > &g)
	LieGroup (Scalar x, Scalar y, Scalar z, Scalar qw, Scalar qx, Scalar qy, Scalar qz)
EIGEN_STRONG_INLINE	LieGroup (const typename Base::Vector3 &v, const typename Base::SO3Element &r)
template<typename Derived >
	LieGroup (const MatrixBase< Derived > &other)
Protected Types
typedef LieGroupBase< Array < _Scalar, 7, 1 >, LieGroup < Array< _Scalar, 7, 1 > > >	Base
Protected Attributes
Coefficients	m_coeffs

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Detailed Description

template<typename _Scalar>
class LieGroup< Array< _Scalar, 7, 1 > >

Class for SE(3) Lie Group.

Definition of LieGroup<Array<Scalar, 7, 1>>

Template Parameters:

_Scalar

the type of the underlying array

This class is a specialization of LieGroup. It adds specific constructor for SE(3).

See also:

The methods are defined in LieGroupBase

Definition at line 383 of file LieGroup_SE3.h.

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Member Typedef Documentation

template<typename _Scalar >

typedef LieGroupBase<Array<_Scalar, 7, 1>, LieGroup<Array<_Scalar, 7, 1> > > LieGroup< Array< _Scalar, 7, 1 > >::Base [protected]

The inherited class

Definition at line 388 of file LieGroup_SE3.h.

template<typename _Scalar >

typedef internal::traits<LieGroup<Array<_Scalar, 7, 1> > >::Coefficients LieGroup< Array< _Scalar, 7, 1 > >::Coefficients

the stored coefficients

Reimplemented from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >.

Definition at line 393 of file LieGroup_SE3.h.

template<typename _Scalar >

typedef _Scalar LieGroup< Array< _Scalar, 7, 1 > >::Scalar

The coefficients type

Reimplemented from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >.

Definition at line 391 of file LieGroup_SE3.h.

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Constructor & Destructor Documentation

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup

(

)

[inline]

Default constructor

Definition at line 398 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup

(

const LieGroup< Array< _Scalar, 7, 1 > > &

g

)

[inline]

Copy constructor

Definition at line 400 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup

(

const Array< Scalar, 7, 1 > &

g

)

[inline]

Copy constructor

Definition at line 402 of file LieGroup_SE3.h.

template<typename _Scalar >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup	(	Scalar	x,
		Scalar	y,
		Scalar	z,
		Scalar	qw,
		Scalar	qx,
		Scalar	qy,
		Scalar	qz
	)		[inline]

Constructs and initializes the displacement with first then

Warning:

Note the order of the arguments: R^3 first then qw (scalar part) while internally the coefficients are stored in the following order: [qx, qy, qz, qw x y z]

Definition at line 410 of file LieGroup_SE3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Array< _Scalar, 7, 1 > >::LieGroup	(	const typename Base::Vector3 &	v,
		const typename Base::SO3Element &	r
	)		[inline]

Constructs a element of SE(3) from an element of SO(3) r and R^3 v

Definition at line 421 of file LieGroup_SE3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Array< _Scalar, 7, 1 > >::LieGroup

(

const MatrixBase< Derived > &

other

)

[inline, explicit]

Definition at line 426 of file LieGroup_SE3.h.

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Member Function Documentation

template<typename _Scalar >

Coefficients& LieGroup< Array< _Scalar, 7, 1 > >::get

(

)

[inline]

Returns:

The stored coefficients

Reimplemented from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >.

Definition at line 429 of file LieGroup_SE3.h.

template<typename _Scalar >

const Coefficients& LieGroup< Array< _Scalar, 7, 1 > >::get

(

)

const [inline]

Returns:

The read-only access to the stored coefficients

Reimplemented from LieGroupBase< Array< _Scalar, 7, 1 >, LieGroup< Array< _Scalar, 7, 1 > > >.

Definition at line 431 of file LieGroup_SE3.h.

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Member Data Documentation

template<typename _Scalar >

Coefficients LieGroup< Array< _Scalar, 7, 1 > >::m_coeffs [protected]

The wrapped coefficients

Definition at line 435 of file LieGroup_SE3.h.

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

• LieGroup_SE3.h