Public Types | Public Member Functions | Protected Attributes | List of all members
Eigen::Map< Sophus::SO3< Scalar_ > const, Options > Class Template Reference

#include <so3.hpp>

Inheritance diagram for Eigen::Map< Sophus::SO3< Scalar_ > const, Options >:
Inheritance graph
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Public Types

using Adjoint = typename Base::Adjoint
 
using Base = Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > >
 
using HomogeneousPoint = typename Base::HomogeneousPoint
 
using Point = typename Base::Point
 
using Scalar = Scalar_
 
using Tangent = typename Base::Tangent
 
using Transformation = typename Base::Transformation
 
- Public Types inherited from Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > >
using Adjoint = Matrix< Scalar, DoF, DoF >
 
using HomogeneousPoint = Vector4< Scalar >
 
using HomogeneousPointProduct = Vector4< ReturnScalar< HPointDerived > >
 
using Line = ParametrizedLine3< Scalar >
 
using Point = Vector3< Scalar >
 
using PointProduct = Vector3< ReturnScalar< PointDerived > >
 
using QuaternionType = typename Eigen::internal::traits< Map< Sophus::SO3< Scalar_ > const, Options > >::QuaternionType
 
using ReturnScalar = typename Eigen::ScalarBinaryOpTraits< Scalar, typename OtherDerived::Scalar >::ReturnType
 
using Scalar = typename Eigen::internal::traits< Map< Sophus::SO3< Scalar_ > const, Options > >::Scalar
 
using SO3Product = SO3< ReturnScalar< OtherDerived > >
 
using Tangent = Vector< Scalar, DoF >
 
using Transformation = Matrix< Scalar, N, N >
 

Public Member Functions

SOPHUS_FUNC Map (Scalar const *coeffs)
 
SOPHUS_FUNC Map< Eigen::Quaternion< Scalar > const, Options > const & unit_quaternion () const
 
- Public Member Functions inherited from Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > >
SOPHUS_FUNC Adjoint Adj () const
 Adjoint transformation. More...
 
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > angleX () const
 
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > angleY () const
 
SOPHUS_FUNC enable_if_t< std::is_floating_point< S >::value, S > angleZ () const
 
SOPHUS_FUNC SO3< NewScalarType > cast () const
 
SOPHUS_FUNC Scalardata ()
 
SOPHUS_FUNC Scalar const * data () const
 
SOPHUS_FUNC Matrix< Scalar, num_parameters, DoFDx_this_mul_exp_x_at_0 () const
 
SOPHUS_FUNC SO3< Scalarinverse () const
 
SOPHUS_FUNC Tangent log () const
 
SOPHUS_FUNC TangentAndTheta logAndTheta () const
 
SOPHUS_FUNC Transformation matrix () const
 
SOPHUS_FUNC void normalize ()
 
SOPHUS_FUNC HomogeneousPointProduct< HPointDerived > operator* (Eigen::MatrixBase< HPointDerived > const &p) const
 Group action on homogeneous 3-points. See above for more details. More...
 
SOPHUS_FUNC PointProduct< PointDerived > operator* (Eigen::MatrixBase< PointDerived > const &p) const
 
SOPHUS_FUNC Line operator* (Line const &l) const
 
SOPHUS_FUNC SO3Product< OtherDerived > operator* (SO3Base< OtherDerived > const &other) const
 
SOPHUS_FUNC SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > & operator*= (SO3Base< OtherDerived > const &other)
 
SOPHUS_FUNC SO3Baseoperator= (SO3Base const &other)=default
 
SOPHUS_FUNC SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > > & operator= (SO3Base< OtherDerived > const &other)
 
SOPHUS_FUNC Sophus::Vector< Scalar, num_parametersparams () const
 
SOPHUS_FUNC void setQuaternion (Eigen::Quaternion< Scalar > const &quaternion)
 
SOPHUS_FUNC QuaternionType const & unit_quaternion () const
 

Protected Attributes

const Map< Eigen::Quaternion< Scalar > const, Options > unit_quaternion_
 

Additional Inherited Members

- Static Public Attributes inherited from Sophus::SO3Base< Map< Sophus::SO3< Scalar_ > const, Options > >
static constexpr int DoF
 Degrees of freedom of group, number of dimensions in tangent space. More...
 
static constexpr int N
 Group transformations are 3x3 matrices. More...
 
static constexpr int num_parameters
 Number of internal parameters used (quaternion is a 4-tuple). More...
 

Detailed Description

template<class Scalar_, int Options>
class Eigen::Map< Sophus::SO3< Scalar_ > const, Options >

Specialization of Eigen::Map for SO3 const; derived from SO3Base.

Allows us to wrap SO3 objects around POD array (e.g. external c style quaternion).

Definition at line 818 of file so3.hpp.

Member Typedef Documentation

◆ Adjoint

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Adjoint = typename Base::Adjoint

Definition at line 827 of file so3.hpp.

◆ Base

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Base = Sophus::SO3Base<Map<Sophus::SO3<Scalar_> const, Options> >

Definition at line 821 of file so3.hpp.

◆ HomogeneousPoint

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::HomogeneousPoint = typename Base::HomogeneousPoint

Definition at line 825 of file so3.hpp.

◆ Point

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Point = typename Base::Point

Definition at line 824 of file so3.hpp.

◆ Scalar

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Scalar = Scalar_

Definition at line 822 of file so3.hpp.

◆ Tangent

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Tangent = typename Base::Tangent

Definition at line 826 of file so3.hpp.

◆ Transformation

template<class Scalar_ , int Options>
using Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Transformation = typename Base::Transformation

Definition at line 823 of file so3.hpp.

Constructor & Destructor Documentation

◆ Map()

template<class Scalar_ , int Options>
SOPHUS_FUNC Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::Map ( Scalar const *  coeffs)
inline

Definition at line 832 of file so3.hpp.

Member Function Documentation

◆ unit_quaternion()

template<class Scalar_ , int Options>
SOPHUS_FUNC Map<Eigen::Quaternion<Scalar> const, Options> const& Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::unit_quaternion ( ) const
inline

Accessor of unit quaternion.

Definition at line 837 of file so3.hpp.

Member Data Documentation

◆ unit_quaternion_

template<class Scalar_ , int Options>
const Map<Eigen::Quaternion<Scalar> const, Options> Eigen::Map< Sophus::SO3< Scalar_ > const, Options >::unit_quaternion_
protected

Mutator of unit_quaternion is protected to ensure class invariant.

Definition at line 844 of file so3.hpp.


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


sophus
Author(s): Hauke Strasdat
autogenerated on Wed Mar 2 2022 01:01:48