Template Struct SO3

Defined in File StateSpace.h

Struct Documentation

template<typename Scalar> struct SO3

Public Types

using cref_t = const Eigen::Ref<const Eigen::Matrix<Scalar, 4, 1>>&

using ref_t = Eigen::Ref<Eigen::Matrix<Scalar, 4, 1>>

Public Functions

inline void print(std::ostream &out)

inline bool check_bounds(cref_t x) const

inline void sample_uniform(ref_t x) const

inline void set_bounds(cref_t lb_, cref_t ub_)

inline void set_weights(cref_t weights_)

inline void choose_split_dimension(cref_t lb, cref_t ub, int &ii, Scalar &width)

inline void interpolate(cref_t from, cref_t to, Scalar t, ref_t out) const

inline Scalar distance_to_rectangle(cref_t &x, cref_t &lb, cref_t &ub) const

inline Scalar distance(cref_t x, cref_t y) const

Public Members

SO3Squared<Scalar> so3squared