g2o::SE3Quat Class Reference

#include <se3quat.h>

Public Member Functions
Matrix< double, 6, 6 >	adj () const
void	fromMinimalVector (const Vector6d &v)
void	fromVector (const Vector7d &v)
SE3Quat	inverse () const
Vector6d	log () const
Vector3d	map (const Vector3d &xyz) const
void	normalizeRotation ()
	operator Eigen::Isometry3d () const
SE3Quat	operator* (const SE3Quat &tr2) const
Vector3d	operator* (const Vector3d &v) const
SE3Quat &	operator*= (const SE3Quat &tr2)
double	operator[] (int i) const
const Quaterniond &	rotation () const
	SE3Quat ()
	SE3Quat (const Matrix3d &R, const Vector3d &t)
	SE3Quat (const Quaterniond &q, const Vector3d &t)
template<typename Derived >
	SE3Quat (const MatrixBase< Derived > &v)
void	setRotation (const Quaterniond &r_)
void	setTranslation (const Vector3d &t_)
Matrix< double, 4, 4 >	to_homogeneous_matrix () const
Vector6d	toMinimalVector () const
Vector7d	toVector () const
const Vector3d &	translation () const

Static Public Member Functions
static SE3Quat	exp (const Vector6d &update)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Quaterniond	_r
Vector3d	_t

Detailed Description

Definition at line 41 of file se3quat.h.

Constructor & Destructor Documentation

g2o::SE3Quat::SE3Quat ( )

inline

Definition at line 53 of file se3quat.h.

g2o::SE3Quat::SE3Quat ( const Matrix3d &  R, const Vector3d &  t  )

inline

Definition at line 58 of file se3quat.h.

g2o::SE3Quat::SE3Quat ( const Quaterniond &  q, const Vector3d &  t  )

inline

Definition at line 62 of file se3quat.h.

template<typename Derived >

g2o::SE3Quat::SE3Quat ( const MatrixBase< Derived > &  v )

inlineexplicit

templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map<Vector6d>

Definition at line 70 of file se3quat.h.

Member Function Documentation

Matrix<double, 6, 6> g2o::SE3Quat::adj ( ) const

inline

Definition at line 259 of file se3quat.h.

static SE3Quat g2o::SE3Quat::exp ( const Vector6d &  update )

inlinestatic

Definition at line 223 of file se3quat.h.

void g2o::SE3Quat::fromMinimalVector ( const Vector6d &  v )

inline

Definition at line 166 of file se3quat.h.

void g2o::SE3Quat::fromVector ( const Vector7d &  v )

inline

Definition at line 150 of file se3quat.h.

SE3Quat g2o::SE3Quat::inverse ( ) const

inline

Definition at line 123 of file se3quat.h.

Vector6d g2o::SE3Quat::log ( ) const

inline

Definition at line 178 of file se3quat.h.

Vector3d g2o::SE3Quat::map ( const Vector3d &  xyz ) const

inline

Definition at line 217 of file se3quat.h.

void g2o::SE3Quat::normalizeRotation ( )

inline

Definition at line 280 of file se3quat.h.

g2o::SE3Quat::operator Eigen::Isometry3d ( ) const

inline

cast SE3Quat into an Eigen::Isometry3d

Definition at line 290 of file se3quat.h.

SE3Quat g2o::SE3Quat::operator* ( const SE3Quat &  tr2 ) const

inline

Definition at line 104 of file se3quat.h.

Vector3d g2o::SE3Quat::operator* ( const Vector3d &  v ) const

inline

Definition at line 119 of file se3quat.h.

SE3Quat& g2o::SE3Quat::operator*= ( const SE3Quat &  tr2 )

inline

Definition at line 112 of file se3quat.h.

double g2o::SE3Quat::operator[] ( int  i ) const

inline

Definition at line 130 of file se3quat.h.

const Quaterniond& g2o::SE3Quat::rotation ( ) const

inline

Definition at line 100 of file se3quat.h.

void g2o::SE3Quat::setRotation ( const Quaterniond &  r_ )

inline

Definition at line 102 of file se3quat.h.

void g2o::SE3Quat::setTranslation ( const Vector3d &  t_ )

inline

Definition at line 98 of file se3quat.h.

Matrix<double,4,4> g2o::SE3Quat::to_homogeneous_matrix ( ) const

inline

Definition at line 270 of file se3quat.h.

Vector6d g2o::SE3Quat::toMinimalVector ( ) const

inline

Definition at line 155 of file se3quat.h.

Vector7d g2o::SE3Quat::toVector ( ) const

inline

Definition at line 138 of file se3quat.h.

const Vector3d& g2o::SE3Quat::translation ( ) const

inline

Definition at line 96 of file se3quat.h.

Member Data Documentation

Quaterniond g2o::SE3Quat::_r

protected

Definition at line 48 of file se3quat.h.

Vector3d g2o::SE3Quat::_t

protected

Definition at line 49 of file se3quat.h.

g2o::SE3Quat::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 43 of file se3quat.h.

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

• se3quat.h