template class Eigen::Map<sophus::Se3<TScalar> const, kOptions>¶
Overview¶
Specialization of Eigen::Map for Se3 const
; derived from Se3Base. More…
#include <se3.h> template <class TScalar, int kOptions> class Map<sophus::Se3<TScalar> const, kOptions>: public sophus::Se3Base { public: // typedefs using Base = sophus::Se3Base<Map<sophus::Se3<TScalar> const, 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 const* coeffs); // methods SOPHUS_FUNC Map<sophus::So3<Scalar> const, kOptions> const& so3() const; SOPHUS_FUNC Map<Eigen::Vector3<Scalar> const, kOptions> const& translation() const; protected: // fields Map<sophus::So3<Scalar> const, kOptions> so3_; Map<Eigen::Vector3<Scalar> const, kOptions> translation_; };
Inherited Members¶
public: // typedefs using Scalar = typename Eigen::internal::traits<TDerived>::Scalar ; using TranslationType = typename Eigen::internal::traits<TDerived>::TranslationType ; using So3Type = typename Eigen::internal::traits<TDerived>::So3Type ; using QuaternionType = typename So3Type::QuaternionType ; using Transformation = Eigen::Matrix<Scalar, kMatrixDim, kMatrixDim> ; using Point = Eigen::Vector3<Scalar> ; using HomogeneousPoint = Eigen::Vector4<Scalar> ; using Line = Eigen::ParametrizedLine<Scalar, 3> ; using Hyperplane = Eigen::Hyperplane<Scalar, 3> ; using Tangent = Eigen::Vector<Scalar, kDoF> ; using Adjoint = Eigen::Matrix<Scalar, kDoF, kDoF> ; using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<Scalar, typename TOtherDerived::Scalar>::ReturnType ; using Se3Product = Se3<ReturnScalar<TOtherDerived>> ; using PointProduct = Eigen::Vector3<ReturnScalar<TPointDerived>> ; using HomogeneousPointProduct = Eigen::Vector4<ReturnScalar<THPointDerived>> ; // fields static constexpr int kDoF = 6; static constexpr int kNumParameters = 7; static constexpr int kMatrixDim = 4; static constexpr int kPointDim = 3; // methods SOPHUS_FUNC Adjoint adj() const; Scalar angleX() const; Scalar angleY() const; Scalar angleZ() const; template <class TNewScalarType> SOPHUS_FUNC Se3<TNewScalarType> cast() const; SOPHUS_FUNC Eigen::Matrix<Scalar, kNumParameters, kDoF> dxThisMulExpXAt0() const; SOPHUS_FUNC Eigen::Matrix<Scalar, kDoF, kNumParameters> dxLogThisInvTimesXAtThis() const; SOPHUS_FUNC Se3<Scalar> inverse() const; SOPHUS_FUNC Tangent log() const; SOPHUS_FUNC void normalize(); SOPHUS_FUNC Transformation matrix() const; SOPHUS_FUNC Eigen::Matrix<Scalar, 3, 4> matrix3x4() const; template <class TOtherDerived> SOPHUS_FUNC Se3Base<TDerived>& operator=(Se3Base<TOtherDerived> const& other); template <class TOtherDerived> SOPHUS_FUNC Se3Product<TOtherDerived> operator*(Se3Base<TOtherDerived> const& other) const; template < typename TPointDerived, typename = typename std::enable_if<IsFixedSizeVector<TPointDerived, 3>::value>::type > SOPHUS_FUNC PointProduct<TPointDerived> operator*(Eigen::MatrixBase<TPointDerived> const& p) const; template < typename THPointDerived, typename = typename std::enable_if<IsFixedSizeVector<THPointDerived, 4>::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 Se3Base<TDerived>& operator*=(Se3Base<TOtherDerived> const& other); SOPHUS_FUNC Eigen::Matrix3<Scalar> rotationMatrix() const; SOPHUS_FUNC So3Type& so3(); SOPHUS_FUNC So3Type const& so3() const; SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quat); SOPHUS_FUNC void setRotationMatrix(Eigen::Matrix3<Scalar> const& mat_r); SOPHUS_FUNC Eigen::Vector<Scalar, kNumParameters> params() const; SOPHUS_FUNC TranslationType& translation(); SOPHUS_FUNC TranslationType const& translation() const; SOPHUS_FUNC QuaternionType const& unitQuaternion() const;
Detailed Documentation¶
Specialization of Eigen::Map for Se3 const
; derived from Se3Base.
Allows us to wrap Se3 objects around POD array.
Methods¶
SOPHUS_FUNC Map<sophus::So3<Scalar> const, kOptions> const& so3() const
Accessor of So3.
SOPHUS_FUNC Map<Eigen::Vector3<Scalar> const, kOptions> const& translation() const
Accessor of translation vector.