Template Struct R3SO3Squared

• Defined in File StateSpace.h

Struct Documentation

template<typename Scalar>
struct R3SO3Squared

Public Types

using cref_t = const Eigen::Ref<const Eigen::Matrix<Scalar, 7, 1>>&

using ref_t = Eigen::Ref<Eigen::Matrix<Scalar, 7, 1>>

using cref3_t = const Eigen::Ref<const Eigen::Matrix<Scalar, 3, 1>>&

Public Functions

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

inline void print(std::ostream &out)

inline void set_bounds(cref3_t lb_, cref3_t ub_)

inline void sample_uniform(cref3_t lb, cref3_t ub, ref_t x) 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

RnSquared<Scalar, 3> l2

SO3Squared<Scalar> so3