LieGroup< Quaternion< _Scalar > > Class Template Reference

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

#include <LieGroup_SO3.h>

Inheritance diagram for LieGroup< Quaternion< _Scalar > >:

List of all members.

Public Types
typedef internal::traits < LieGroup< Quaternion< Scalar > > >::Coefficients	Coefficients
typedef _Scalar	Scalar
Public Member Functions
Coefficients &	get ()
const Coefficients &	get () const
	LieGroup ()
template<class OtherDerived >
	LieGroup (const LieGroupBase< typename Base::BaseType, OtherDerived > &g)
EIGEN_STRONG_INLINE	LieGroup (const Coefficients &g)
EIGEN_STRONG_INLINE	LieGroup (const AngleAxis< Scalar > &aa)
template<class OtherDerived >
	LieGroup (Scalar w, const MatrixBase< OtherDerived > &vec)
template<typename Derived >
	LieGroup (const MatrixBase< Derived > &other)
template<typename Derived >
	LieGroup (const Matrix< Scalar, 4, 1 > &other)
	LieGroup (Scalar w, Scalar x, Scalar y, Scalar z)
	LieGroup (Scalar w, const Matrix< Scalar, 3, 1 > &v)
Protected Types
typedef LieGroupBase < Quaternion< _Scalar > , LieGroup< Quaternion < _Scalar > > >	Base
Protected Attributes
Coefficients	m_coeffs

---

Detailed Description

template<typename _Scalar>
class LieGroup< Quaternion< _Scalar > >

Class for SO(3) Lie Group.

Definition of LieGroup<Quaternion>

Template Parameters:

_Scalar

the type of the underlying quaternion

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

See also:

The methods are defined in LieGroupBase

Definition at line 230 of file LieGroup_SO3.h.

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Member Typedef Documentation

template<typename _Scalar >

typedef LieGroupBase<Quaternion<_Scalar>, LieGroup<Quaternion<_Scalar> > > LieGroup< Quaternion< _Scalar > >::Base [protected]

The inherited class

Definition at line 235 of file LieGroup_SO3.h.

template<typename _Scalar >

typedef internal::traits<LieGroup<Quaternion<Scalar> > >::Coefficients LieGroup< Quaternion< _Scalar > >::Coefficients

the stored coefficients

Reimplemented from LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >.

Definition at line 240 of file LieGroup_SO3.h.

template<typename _Scalar >

typedef _Scalar LieGroup< Quaternion< _Scalar > >::Scalar

The coefficients type

Reimplemented from LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >.

Definition at line 238 of file LieGroup_SO3.h.

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Constructor & Destructor Documentation

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup

(

)

[inline]

Default constructor

Definition at line 245 of file LieGroup_SO3.h.

template<typename _Scalar >

template<class OtherDerived >

LieGroup< Quaternion< _Scalar > >::LieGroup

(

const LieGroupBase< typename Base::BaseType, OtherDerived > &

g

)

[inline]

Copy constructor

Definition at line 247 of file LieGroup_SO3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Quaternion< _Scalar > >::LieGroup

(

const Coefficients &

g

)

[inline]

Copy constructor Copy constructor

Definition at line 251 of file LieGroup_SO3.h.

template<typename _Scalar >

EIGEN_STRONG_INLINE LieGroup< Quaternion< _Scalar > >::LieGroup

(

const AngleAxis< Scalar > &

aa

)

[inline]

Definition at line 252 of file LieGroup_SO3.h.

template<typename _Scalar >

template<class OtherDerived >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		const MatrixBase< OtherDerived > &	vec
	)		[inline]

Constructs a element of SO(3) from a scalar w and a vector vec. The underlying quaternion is initialized with w, vec[0], vec[1], vec[2]

Definition at line 255 of file LieGroup_SO3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Quaternion< _Scalar > >::LieGroup

(

const MatrixBase< Derived > &

other

)

[inline, explicit]

Intialize from rotation matrix

Definition at line 263 of file LieGroup_SO3.h.

template<typename _Scalar >

template<typename Derived >

LieGroup< Quaternion< _Scalar > >::LieGroup

(

const Matrix< Scalar, 4, 1 > &

other

)

[inline, explicit]

Definition at line 266 of file LieGroup_SO3.h.

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		Scalar	x,
		Scalar	y,
		Scalar	z
	)		[inline]

Constructs and initializes the quaternion from its four coefficients w, x, y and z.

Warning:

Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

Definition at line 275 of file LieGroup_SO3.h.

template<typename _Scalar >

LieGroup< Quaternion< _Scalar > >::LieGroup	(	Scalar	w,
		const Matrix< Scalar, 3, 1 > &	v
	)		[inline]

Definition at line 276 of file LieGroup_SO3.h.

---

Member Function Documentation

template<typename _Scalar >

Coefficients& LieGroup< Quaternion< _Scalar > >::get

(

)

[inline]

Returns:

The stored coefficients

Reimplemented from LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >.

Definition at line 279 of file LieGroup_SO3.h.

template<typename _Scalar >

const Coefficients& LieGroup< Quaternion< _Scalar > >::get

(

)

const [inline]

Returns:

The read-only access to the stored coefficients

Reimplemented from LieGroupBase< Quaternion< _Scalar >, LieGroup< Quaternion< _Scalar > > >.

Definition at line 281 of file LieGroup_SO3.h.

---

Member Data Documentation

template<typename _Scalar >

Coefficients LieGroup< Quaternion< _Scalar > >::m_coeffs [protected]

The wrapped coefficients

Definition at line 285 of file LieGroup_SO3.h.

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

• LieGroup_SO3.h