C++ API

File Hierarchy

• • Directory sophus
    • File average.hpp
    • File cartesian.hpp
    • File ceres_local_parameterization.hpp
    • File ceres_manifold.hpp
    • File ceres_typetraits.hpp
    • File common.hpp
    • File geometry.hpp
    • File interpolate.hpp
    • File interpolate_details.hpp
    • File num_diff.hpp
    • File rotation_matrix.hpp
    • File rxso2.hpp
    • File rxso3.hpp
    • File se2.hpp
    • File se3.hpp
    • File sim2.hpp
    • File sim3.hpp
    • File sim_details.hpp
    • File so2.hpp
    • File so3.hpp
    • File spline.hpp
    • File test_macros.hpp
    • File types.hpp
    • File velocities.hpp

Full C++ API

Namespaces

• Namespace ceres

• Namespace Eigen

• Namespace Eigen::internal

• Namespace Sophus

• Namespace Sophus::details

• Namespace Sophus::experimental

• Namespace Sophus::interp_details

• Namespace std

Classes and Structs

• Template Struct traits< Map< Sophus::Cartesian< Scalar_, M >, const, Options > >

• Template Struct traits< Map< Sophus::Cartesian< Scalar_, M >, Options > >

• Template Struct traits< Map< Sophus::RxSO2< Scalar_ >, const, Options_ > >

• Template Struct traits< Map< Sophus::RxSO2< Scalar_ >, Options_ > >

• Template Struct traits< Map< Sophus::RxSO3< Scalar_ >, const, Options_ > >

• Template Struct traits< Map< Sophus::RxSO3< Scalar_ >, Options_ > >

• Template Struct traits< Map< Sophus::SE2< Scalar_ >, const, Options > >

• Template Struct traits< Map< Sophus::SE2< Scalar_ >, Options > >

• Template Struct traits< Map< Sophus::SE3< Scalar_ >, const, Options > >

• Template Struct traits< Map< Sophus::SE3< Scalar_ >, Options > >

• Template Struct traits< Map< Sophus::Sim2< Scalar_ >, const, Options > >

• Template Struct traits< Map< Sophus::Sim2< Scalar_ >, Options > >

• Template Struct traits< Map< Sophus::Sim3< Scalar_ >, const, Options > >

• Template Struct traits< Map< Sophus::Sim3< Scalar_ >, Options > >

• Template Struct traits< Map< Sophus::SO2< Scalar_ >, const, Options_ > >

• Template Struct traits< Map< Sophus::SO2< Scalar_ >, Options_ > >

• Template Struct traits< Map< Sophus::SO3< Scalar_ >, const, Options_ > >

• Template Struct traits< Map< Sophus::SO3< Scalar_ >, Options_ > >

• Template Struct traits< Sophus::Cartesian< Scalar_, M, Options > >

• Template Struct traits< Sophus::RxSO2< Scalar_, Options_ > >

• Template Struct traits< Sophus::RxSO3< Scalar_, Options_ > >

• Template Struct traits< Sophus::SE2< Scalar_, Options > >

• Template Struct traits< Sophus::SE3< Scalar_, Options > >

• Template Struct traits< Sophus::Sim2< Scalar_, Options > >

• Template Struct traits< Sophus::Sim3< Scalar_, Options > >

• Template Struct traits< Sophus::SO2< Scalar_, Options_ > >

• Template Struct traits< Sophus::SO3< Scalar_, Options_ > >

• Template Struct BasisSplineSegment

• Template Struct Constants

• Template Struct Constants< float >

• Template Struct GetScalar

• Template Struct GetScalar< Matrix< Scalar_, M, N > >

• Struct IndexAndU

• Template Struct Traits

• Template Struct Traits< Cartesian< Scalar, Dim > >

• Template Struct Traits< RxSO2< Scalar > >

• Template Struct Traits< RxSO3< Scalar > >

• Template Struct Traits< SE2< Scalar > >

• Template Struct Traits< SE3< Scalar > >

• Template Struct Traits< Sim2< Scalar > >

• Template Struct Traits< Sim3< Scalar > >

• Template Struct Traits< SO2< Scalar > >

• Template Struct Traits< SO3< Scalar > >

• Template Struct IsFixedSizeVector

• Template Struct IsFloatingPoint

• Template Struct IsFloatingPoint< Matrix< Scalar, M, N > >

• Template Struct IsUniformRandomBitGenerator

• Template Struct Mapper

• Template Struct Mapper< T, typename std::enable_if< IsMappableV< T > >::type >

• Struct nullopt_t

• Struct RxSO3Base::TangentAndTheta

• Struct SO3Base::TangentAndTheta

• Template Class Map< Sophus::Cartesian< Scalar_, M >, const, Options >

• Template Class Map< Sophus::Cartesian< Scalar_, M >, Options >

• Template Class Map< Sophus::RxSO2< Scalar_ >, const, Options >

• Template Class Map< Sophus::RxSO2< Scalar_ >, Options >

• Template Class Map< Sophus::RxSO3< Scalar_ >, const, Options >

• Template Class Map< Sophus::RxSO3< Scalar_ >, Options >

• Template Class Map< Sophus::SE2< Scalar_ >, const, Options >

• Template Class Map< Sophus::SE2< Scalar_ >, Options >

• Template Class Map< Sophus::SE3< Scalar_ >, const, Options >

• Template Class Map< Sophus::SE3< Scalar_ >, Options >

• Template Class Map< Sophus::Sim2< Scalar_ >, const, Options >

• Template Class Map< Sophus::Sim2< Scalar_ >, Options >

• Template Class Map< Sophus::Sim3< Scalar_ >, const, Options >

• Template Class Map< Sophus::Sim3< Scalar_ >, Options >

• Template Class Map< Sophus::SO2< Scalar_ >, const, Options >

• Template Class Map< Sophus::SO2< Scalar_ >, Options >

• Template Class Map< Sophus::SO3< Scalar_ >, const, Options >

• Template Class Map< Sophus::SO3< Scalar_ >, Options >

• Template Class BasisSpline

• Template Class BasisSplineFn

• Template Class BasisSplineImpl

• Template Class Cartesian

• Template Class CartesianBase

• Template Class Curve

• Template Class MaxMetric

• Template Class MaxMetric< Matrix< Scalar, M, N > >

• Template Class Pretty

• Template Class Pretty< Eigen::Matrix< Scalar, M, N >, void >

• Template Class Pretty< Ptr, enable_if_t< std::is_pointer< Ptr >::value > >

• Template Class SetElementAt

• Template Class SetElementAt< Scalar, Scalar >

• Template Class SetElementAt< Vector< Scalar, N >, Scalar >

• Template Class SetToZero

• Template Class SetToZero< Matrix< Scalar, M, N > >

• Template Class SquaredNorm

• Template Class SquaredNorm< Matrix< Scalar, N, 1 > >

• Template Class Transpose

• Template Class Transpose< Matrix< Scalar, M, N > >

• Template Class VectorField

• Template Class VectorField< Scalar, N, 1 >

• Template Class LocalParameterization

• Template Class Manifold

• Template Class optional

• Template Class RxSO2

• Template Class RxSO2Base

• Template Class RxSO3

• Template Class RxSO3Base

• Template Class SE2

• Template Class SE2Base

• Template Class SE3

• Template Class SE3Base

• Template Class Sim2

• Template Class Sim2Base

• Template Class Sim3

• Template Class Sim3Base

• Template Class SO2

• Template Class SO2Base

• Template Class SO3

• Template Class SO3Base

• Template Class SplineBasisFunction

Enums

• Enum SegmentCase

Functions

• Template Function Sophus::average(SequenceContainer const&)

• Template Function Sophus::average(SequenceContainer const&)

• Template Function Sophus::average(SequenceContainer const&)

• Template Function Sophus::average(SequenceContainer const&)

• Template Function Sophus::average(SequenceContainer const&)

• Template Function Sophus::average(SequenceContainer const&, int)

• Template Function Sophus::average(SequenceContainer const&, int)

• Template Function Sophus::average(SequenceContainer const&, int)

• Template Function Sophus::average(SequenceContainer const&, int)

• Template Function Sophus::complete(T *)

• Function Sophus::complete(…)

• Template Function Sophus::curveNumDiff

• Template Function Sophus::details::averageUnitQuaternion

• Template Function Sophus::details::calcW

• Template Function Sophus::details::calcW_derivatives

• Template Function Sophus::details::calcWInv

• Template Function Sophus::details::getQuaternion

• Template Function Sophus::details::getUnitQuaternion(SO3<Scalar> const&)

• Template Function Sophus::details::getUnitQuaternion(RxSO3<Scalar> const&)

• Template Function Sophus::details::pretty

• Template Function Sophus::details::testFailed

• Template Function Sophus::experimental::finiteDifferenceRotationalVelocity(std::function<SO3<Scalar>(Scalar)> const&, Scalar, Scalar)

• Template Function Sophus::experimental::finiteDifferenceRotationalVelocity(std::function<SE3<Scalar>(Scalar)> const&, Scalar, Scalar)

• Template Function Sophus::experimental::transformVelocity(SO3<Scalar> const&, Vector3<Scalar> const&)

• Template Function Sophus::experimental::transformVelocity(SE3<Scalar> const&, Vector3<Scalar> const&)

• Template Function Sophus::interpolate

• Template Function Sophus::isOrthogonal

• Template Function Sophus::isScaledOrthogonalAndPositive

• Template Function Sophus::iterativeMean

• Template Function Sophus::lineFromSE2

• Template Function Sophus::makeHyperplaneUnique

• Template Function Sophus::makeRotationMatrix

• Template Function Sophus::maxMetric

• Template Function Sophus::normalFromSO2

• Template Function Sophus::normalFromSO3

• Template Function Sophus::planeFromSE3

• Function Sophus::processTestResult

• Template Function Sophus::rotationFromNormal

• Template Function Sophus::SE2FromLine

• Template Function Sophus::SE3FromPlane

• Template Function Sophus::setElementAt

• Template Function Sophus::setToZero

• Template Function Sophus::SO2FromNormal

• Template Function Sophus::SO3FromNormal

• Template Function Sophus::squaredNorm

• Template Function Sophus::transpose

• Template Function Sophus::vectorFieldNumDiff

Variables

• Variable Sophus::IsMappableV

• Variable Sophus::nullopt

Defines

• Define EIGEN_DEVICE_FUNC

• Define SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL

• Define SOPHUS_ENSURE

• Define SOPHUS_FMT_ARG

• Define SOPHUS_FMT_CSTR

• Define SOPHUS_FMT_PRINT

• Define SOPHUS_FMT_STR

• Define SOPHUS_FMT_STRING

• Define SOPHUS_FUNC

• Define SOPHUS_FUNCTION

• Define SOPHUS_STRINGIFY

• Define SOPHUS_TEST

• Define SOPHUS_TEST_APPROX

• Define SOPHUS_TEST_EQUAL

• Define SOPHUS_TEST_NEQ

• Define SOPHUS_TEST_NOT_APPROX

Typedefs

• Typedef Sophus::Cartesian2

• Typedef Sophus::Cartesian2d

• Typedef Sophus::Cartesian3

• Typedef Sophus::Cartesian3d

• Typedef Sophus::enable_if_t

• Typedef Sophus::Hyperplane

• Typedef Sophus::Hyperplane2

• Typedef Sophus::Hyperplane2d

• Typedef Sophus::Hyperplane2f

• Typedef Sophus::Hyperplane3

• Typedef Sophus::Hyperplane3d

• Typedef Sophus::Hyperplane3f

• Typedef Sophus::IsMappable

• Typedef Sophus::IsSpecialized

• Typedef Sophus::Line2

• Typedef Sophus::Line2d

• Typedef Sophus::Line2f

• Typedef Sophus::Matrix

• Typedef Sophus::Matrix2

• Typedef Sophus::Matrix2d

• Typedef Sophus::Matrix2f

• Typedef Sophus::Matrix3

• Typedef Sophus::Matrix3d

• Typedef Sophus::Matrix3f

• Typedef Sophus::Matrix4

• Typedef Sophus::Matrix4d

• Typedef Sophus::Matrix4f

• Typedef Sophus::Matrix6

• Typedef Sophus::Matrix6d

• Typedef Sophus::Matrix6f

• Typedef Sophus::Matrix7

• Typedef Sophus::Matrix7d

• Typedef Sophus::Matrix7f

• Typedef Sophus::ParametrizedLine

• Typedef Sophus::ParametrizedLine2

• Typedef Sophus::ParametrizedLine2d

• Typedef Sophus::ParametrizedLine2f

• Typedef Sophus::ParametrizedLine3

• Typedef Sophus::ParametrizedLine3d

• Typedef Sophus::ParametrizedLine3f

• Typedef Sophus::Plane3

• Typedef Sophus::Plane3d

• Typedef Sophus::Plane3f

• Typedef Sophus::RxSO2d

• Typedef Sophus::RxSO2f

• Typedef Sophus::RxSO3d

• Typedef Sophus::RxSO3f

• Typedef Sophus::SE2d

• Typedef Sophus::SE2f

• Typedef Sophus::SE3d

• Typedef Sophus::SE3f

• Typedef Sophus::Sim2d

• Typedef Sophus::Sim2f

• Typedef Sophus::Sim3d

• Typedef Sophus::Sim3f

• Typedef Sophus::SO2d

• Typedef Sophus::SO2f

• Typedef Sophus::SO3d

• Typedef Sophus::SO3f

• Typedef Sophus::Vector

• Typedef Sophus::Vector2

• Typedef Sophus::Vector2d

• Typedef Sophus::Vector2f

• Typedef Sophus::Vector3

• Typedef Sophus::Vector3d

• Typedef Sophus::Vector3f

• Typedef Sophus::Vector4

• Typedef Sophus::Vector4d

• Typedef Sophus::Vector4f

• Typedef Sophus::Vector6

• Typedef Sophus::Vector6d

• Typedef Sophus::Vector6f

• Typedef Sophus::Vector7

• Typedef Sophus::Vector7d

• Typedef Sophus::Vector7f

Directories

• Directory sophus

Files

• File average.hpp

• File cartesian.hpp

• File ceres_local_parameterization.hpp

• File ceres_manifold.hpp

• File ceres_typetraits.hpp

• File common.hpp

• File geometry.hpp

• File interpolate.hpp

• File interpolate_details.hpp

• File num_diff.hpp

• File rotation_matrix.hpp

• File rxso2.hpp

• File rxso3.hpp

• File se2.hpp

• File se3.hpp

• File sim2.hpp

• File sim3.hpp

• File sim_details.hpp

• File so2.hpp

• File so3.hpp

• File spline.hpp

• File test_macros.hpp

• File types.hpp

• File velocities.hpp