Class describing a rigid Displacement or a 3D Frame position. More...

#include <Displacement.h>

Inheritance diagram for Displacement< _Scalar >:

Public Types
typedef internal::traits< Displacement >::Coefficients	Coefficients

typedef _Scalar	Scalar

Public Types inherited from DisplacementBase< Displacement< _Scalar > >
typedef Base::BaseType	BaseType

typedef Base::PlainObject	PlainObject

typedef LieGroup< Quaternion< Scalar > >	Rotation3D

typedef internal::traits< Displacement< _Scalar > >::Scalar	Scalar

typedef Matrix< Scalar, 3, 1 >	Vector3

Public Types inherited from LieGroupBase< Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >, Displacement< _Scalar > >
typedef Displacement< _Scalar >::AdjointMatrix	AdjointMatrix

typedef Displacement< _Scalar >::Algebra	Algebra

typedef Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >	BaseType

typedef Displacement< _Scalar >::CoAlgebra	CoAlgebra

typedef Displacement< _Scalar >::Coefficients	Coefficients

typedef internal::traits< Displacement< _Scalar > >::PlainObject	PlainObject

typedef internal::traits< Displacement< _Scalar > >::Scalar	Scalar

Public Member Functions
	Displacement ()

	Displacement (const Displacement &other)

template<typename Derived >
	Displacement (const DisplacementBase< Derived > &other)

	Displacement (const Array< Scalar, 7, 1 > &g)

template<typename Derived >
	Displacement (const MatrixBase< Derived > &other)

EIGEN_STRONG_INLINE	Displacement (Scalar x, Scalar y, Scalar z, Scalar qw=(Scalar) 1.0, Scalar qx=(Scalar) 0.0, Scalar qy=(Scalar) 0.0, Scalar qz=(Scalar) 0.0)

EIGEN_STRONG_INLINE	Displacement (const typename Base::Vector3 &v, const typename Base::Rotation3D &r)

Coefficients &	get ()

const Coefficients &	get () const

Public Member Functions inherited from DisplacementBase< Displacement< _Scalar > >
internal::cast_return_type< Displacement< _Scalar >, Displacement< NewScalarType > >::type	cast () const

Map< Rotation3D >	getRotation ()

const Map< const Rotation3D >	getRotation () const

Map< Vector3 >	getTranslation ()

const Map< const Vector3 >	getTranslation () const

EIGEN_STRONG_INLINE DisplacementBase &	operator= (const typename Base::PlainObject &g)

Scalar	qw () const

Scalar &	qw ()

Scalar	qx () const

Scalar &	qx ()

Scalar	qy () const

Scalar &	qy ()

Scalar	qz () const

Scalar &	qz ()

void	setRandom ()

Matrix< Scalar, 4, 4 >	toHomogeneousMatrix () const

Scalar	x () const

Scalar &	x ()

Scalar	y () const

Scalar &	y ()

Scalar	z () const

Scalar &	z ()

Public Member Functions inherited from LieGroupBase< Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >, Displacement< _Scalar > >
AdjointMatrix	adjoint (void) const

Algebra	adjoint (const Algebra &) const

CoAlgebra	adjointTr (const CoAlgebra &) const

const Displacement< _Scalar > &	derived () const

Displacement< _Scalar > &	derived ()

Coefficients &	get ()

const Coefficients &	get () const

PlainObject	inverse () const

Algebra	log (const Scalar precision=1e-6) const

PlainObject	operator* (const LieGroupBase< Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >, OtherDerived > &other) const

LieGroupBase &	operator= (const LieGroupBase< Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >, OtherDerived > &)

Protected Types
typedef DisplacementBase< Displacement< Scalar > >	Base

Protected Types inherited from DisplacementBase< Displacement< _Scalar > >
typedef LieGroupBase< Array< Scalar, 7, 1 >, Displacement< _Scalar > >	Base

Protected Attributes
Coefficients	m_coeffs

Additional Inherited Members
Static Public Member Functions inherited from LieGroupBase< Array< internal::traits< Displacement< _Scalar > >::Scalar, 7, 1 >, Displacement< _Scalar > >
static PlainObject	Identity ()

Detailed Description

template<typename _Scalar>
class Displacement< _Scalar >

Class describing a rigid Displacement or a 3D Frame position.

Template Parameters

_Scalar the type of the underlying array

This class add some specific constructors

See also: The methods are defined in LieGroupBase and DisplacementBase

Definition at line 159 of file Displacement.h.

Member Typedef Documentation

template<typename _Scalar>

typedef DisplacementBase<Displacement<Scalar> > Displacement< _Scalar >::Base

protected

The inherited class

Definition at line 165 of file Displacement.h.

template<typename _Scalar>

typedef internal::traits<Displacement>::Coefficients Displacement< _Scalar >::Coefficients

the stored coefficients

Definition at line 168 of file Displacement.h.

template<typename _Scalar>

typedef _Scalar Displacement< _Scalar >::Scalar

The coefficients type

Definition at line 162 of file Displacement.h.

Constructor & Destructor Documentation

template<typename _Scalar>

Displacement< _Scalar >::Displacement ( )

inline

Default constructor

Definition at line 173 of file Displacement.h.

template<typename _Scalar>

Displacement< _Scalar >::Displacement ( const Displacement< _Scalar > & other )

inline

Copy constructor

Definition at line 175 of file Displacement.h.

template<typename _Scalar>

template<typename Derived >

Displacement< _Scalar >::Displacement ( const DisplacementBase< Derived > & other )

inline

Pseudo-copy constructor

Definition at line 179 of file Displacement.h.

template<typename _Scalar>

Displacement< _Scalar >::Displacement ( const Array< Scalar, 7, 1 > & g )

inline

Copy constructor using the wrapped class

Definition at line 181 of file Displacement.h.

template<typename _Scalar>

template<typename Derived >

Displacement< _Scalar >::Displacement ( const MatrixBase< Derived > & other )

inlineexplicit

Definition at line 183 of file Displacement.h.

template<typename _Scalar>

EIGEN_STRONG_INLINE Displacement< _Scalar >::Displacement	(	Scalar	x,
		Scalar	y,
		Scalar	z,
		Scalar	qw = `(Scalar)1.0`,
		Scalar	qx = `(Scalar)0.0`,
		Scalar	qy = `(Scalar)0.0`,
		Scalar	qz = `(Scalar)0.0`
	)

inline

Constructs and initializes the displacement with $R^3$ first then $SO(3)$

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 190 of file Displacement.h.

template<typename _Scalar>

EIGEN_STRONG_INLINE Displacement< _Scalar >::Displacement	(	const typename Base::Vector3 &	v,
		const typename Base::Rotation3D &	r
	)

inline

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

Definition at line 203 of file Displacement.h.

Member Function Documentation

template<typename _Scalar>

Coefficients& Displacement< _Scalar >::get ( )

inline

Returns: The stored coefficients

Definition at line 209 of file Displacement.h.

template<typename _Scalar>

const Coefficients& Displacement< _Scalar >::get ( ) const

inline

Returns: The read-only access to the stored coefficients

Definition at line 211 of file Displacement.h.

Member Data Documentation

template<typename _Scalar>

Coefficients Displacement< _Scalar >::m_coeffs

protected

The wrapped coefficients

Definition at line 215 of file Displacement.h.

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

Displacement.h

Public Types

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar> class Displacement< _Scalar >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename _Scalar>
class Displacement< _Scalar >