Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | List of all members
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
 
SE3Quatoperator*= (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.


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


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47