template class Eigen::Map<sophus::Se2<TScalar>, kOptions>¶
Overview¶
Specialization of Eigen::Map for Se2
; derived from Se2Base. More…
#include <se2.h> template <class TScalar, int kOptions> class Map<sophus::Se2<TScalar>, kOptions>: public sophus::Se2Base { public: // typedefs using Base = sophus::Se2Base<Map<sophus::Se2<TScalar>, kOptions>> ; using Scalar = TScalar ; using Transformation = typename Base::Transformation ; using Point = typename Base::Point ; using HomogeneousPoint = typename Base::HomogeneousPoint ; using Tangent = typename Base::Tangent ; using Adjoint = typename Base::Adjoint ; // construction Map(Scalar* coeffs); // methods SOPHUS_FUNC Map<sophus::So2<Scalar>, kOptions>& so2(); SOPHUS_FUNC Map<sophus::So2<Scalar>, kOptions> const& so2() const; SOPHUS_FUNC Map<Eigen::Vector2<Scalar>, kOptions>& translation(); SOPHUS_FUNC Map<Eigen::Vector2<Scalar>, kOptions> const& translation() const; protected: // fields Map<sophus::So2<Scalar>, kOptions> so2_; Map<Eigen::Vector2<Scalar>, kOptions> translation_; };
Inherited Members¶
public: // typedefs using Scalar = typename Eigen::internal::traits<TDerived>::Scalar ; using TranslationType = typename Eigen::internal::traits<TDerived>::TranslationType ; using So2Type = typename Eigen::internal::traits<TDerived>::So2Type ; using Transformation = Eigen::Matrix<Scalar, kMatrixDim, kMatrixDim> ; using Point = Eigen::Vector2<Scalar> ; using HomogeneousPoint = Eigen::Vector3<Scalar> ; using Line = Eigen::ParametrizedLine<Scalar, 2> ; using Hyperplane = Eigen::Hyperplane<Scalar, 2> ; using Tangent = Eigen::Vector<Scalar, kDoF> ; using Adjoint = Eigen::Matrix<Scalar, kDoF, kDoF> ; using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<Scalar, typename TOtherDerived::Scalar>::ReturnType ; using Se2Product = Se2<ReturnScalar<TOtherDerived>> ; using PointProduct = Eigen::Vector2<ReturnScalar<TPointDerived>> ; using HomogeneousPointProduct = Eigen::Vector3<ReturnScalar<THPointDerived>> ; // fields static constexpr int kDoF = 3; static constexpr int kNumParameters = 4; static constexpr int kMatrixDim = 3; static constexpr int kPointDim = 2; // methods SOPHUS_FUNC Adjoint adj() const; template <class TNewScalarType> SOPHUS_FUNC Se2<TNewScalarType> cast() const; SOPHUS_FUNC Eigen::Matrix<Scalar, kNumParameters, kDoF> dxThisMulExpXAt0() const; SOPHUS_FUNC Eigen::Matrix<Scalar, kDoF, kNumParameters> dxLogThisInvTimesXAtThis() const; SOPHUS_FUNC Se2<Scalar> inverse() const; SOPHUS_FUNC Tangent log() const; SOPHUS_FUNC void normalize(); SOPHUS_FUNC Transformation matrix() const; SOPHUS_FUNC Eigen::Matrix<Scalar, 2, 3> matrix2x3() const; template <class TOtherDerived> SOPHUS_FUNC Se2Base<TDerived>& operator=(Se2Base<TOtherDerived> const& other); template <class TOtherDerived> SOPHUS_FUNC Se2Product<TOtherDerived> operator*(Se2Base<TOtherDerived> const& other) const; template < typename TPointDerived, typename = typename std::enable_if<IsFixedSizeVector<TPointDerived, 2>::value>::type > SOPHUS_FUNC PointProduct<TPointDerived> operator*(Eigen::MatrixBase<TPointDerived> const& p) const; template < typename THPointDerived, typename = typename std::enable_if<IsFixedSizeVector<THPointDerived, 3>::value>::type > SOPHUS_FUNC HomogeneousPointProduct<THPointDerived> operator*(Eigen::MatrixBase<THPointDerived> const& p) const; SOPHUS_FUNC Line operator*(Line const& l) const; SOPHUS_FUNC Hyperplane operator*(Hyperplane const& p) const; template < typename TOtherDerived, typename = typename std::enable_if<std::is_same<Scalar, ReturnScalar<TOtherDerived>>::value>::type > SOPHUS_FUNC Se2Base<TDerived>& operator*=(Se2Base<TOtherDerived> const& other); SOPHUS_FUNC Eigen::Vector<Scalar, kNumParameters> params() const; SOPHUS_FUNC Eigen::Matrix<Scalar, 2, 2> rotationMatrix() const; SOPHUS_FUNC void setComplex(Eigen::Vector2<Scalar> const& complex); SOPHUS_FUNC void setRotationMatrix(Eigen::Matrix<Scalar, 2, 2> const& r); SOPHUS_FUNC So2Type& so2(); SOPHUS_FUNC So2Type const& so2() const; SOPHUS_FUNC TranslationType& translation(); SOPHUS_FUNC TranslationType const& translation() const; SOPHUS_FUNC Eigen::internal::traits<TDerived>::So2Type::ComplexT const& unitComplex() const;
Detailed Documentation¶
Specialization of Eigen::Map for Se2
; derived from Se2Base.
Allows us to wrap Se2 objects around POD array.
Methods¶
SOPHUS_FUNC Map<sophus::So2<Scalar>, kOptions>& so2()
Mutator of So3.
SOPHUS_FUNC Map<sophus::So2<Scalar>, kOptions> const& so2() const
Accessor of So3.
SOPHUS_FUNC Map<Eigen::Vector2<Scalar>, kOptions>& translation()
Mutator of translation vector.
SOPHUS_FUNC Map<Eigen::Vector2<Scalar>, kOptions> const& translation() const
Accessor of translation vector.