SpecialEuclideanOperation< 2 > Struct Template Reference

Inheritance diagram for SpecialEuclideanOperation< 2 >:

Collaboration diagram for SpecialEuclideanOperation< 2 >:

Public Types
typedef VectorSpaceOperation< 2 >	R2_t
typedef SpecialOrthogonalOperation< 2 >	SO2_t
typedef CartesianProductOperation< R2_t, SO2_t >	R2crossSO2_t
typedef Eigen::Matrix< Scalar, 2, 2 >	Matrix2
typedef Eigen::Matrix< Scalar, 2, 1 >	Vector2
Public Types inherited from LieGroupBase< SpecialEuclideanOperation< 2 > >
enum
typedef SpecialEuclideanOperation< 2 >	LieGroupDerived
typedef int	Index
typedef traits< LieGroupDerived >::Scalar	Scalar
typedef Eigen::Matrix< Scalar, NQ, 1 >	ConfigVector_t
typedef Eigen::Matrix< Scalar, NV, 1 >	TangentVector_t
typedef Eigen::Matrix< Scalar, NV, NV >	JacobianMatrix_t

Public Member Functions
	SE3_LIE_GROUP_PUBLIC_INTERFACE (SpecialEuclideanOperation)
Index	nq () const
Index	nv () const
	Get dimension of Lie Group tangent space.
ConfigVector_t	neutral () const
std::string	name () const
template<class Config_t >
void	random_impl (const Eigen::MatrixBase< Config_t > &qout) const
template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &lower, const Eigen::MatrixBase< ConfigR_t > &upper, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Public Member Functions inherited from LieGroupBase< SpecialEuclideanOperation< 2 > >
void	integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Integrate a joint's configuration with a tangent vector during one unit time duration. More...
void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the Integrate operation. More...
void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the Integrate operation. More...
void	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Interpolation between two joint's configurations. More...
void	normalize (const Eigen::MatrixBase< Config_t > &qout) const
	Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...
void	random (const Eigen::MatrixBase< Config_t > &qout) const
	Generate a random joint configuration, normalizing quaternions when necessary. More...
void	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Generate a configuration vector uniformly sampled among provided limits. More...
void	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
	Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
void	Jdifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianLOut_t > &J0, const Eigen::MatrixBase< JacobianROut_t > &J1) const
	Computes the Jacobian of the difference operation. More...
Scalar	squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Squared distance between two joint configurations. More...
Scalar	distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Distance between two configurations of the joint. More...
bool	isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check if two configurations are equivalent within the given precision. More...
ConfigVector_t	integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const
ConfigVector_t	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const
ConfigVector_t	random () const
ConfigVector_t	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const
TangentVector_t	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
void	interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
Index	nq () const
Index	nv () const
	Get dimension of Lie Group tangent space.
ConfigVector_t	neutral () const
	Get neutral element as a vector.
std::string	name () const
	Get name of instance.
SpecialEuclideanOperation< 2 > &	derived ()
const SpecialEuclideanOperation< 2 > &	derived () const

Static Public Member Functions
template<typename Tangent_t >
static void	exp (const Eigen::MatrixBase< Tangent_t > &v, Matrix2 &R, Vector2 &t)
template<typename Matrix_t >
static void	toInverseActionMatrix (const Matrix2 &R, const Vector2 &t, const Eigen::MatrixBase< Matrix_t > &M)
template<typename Tangent_t >
static void	log (const Matrix2 &R, const Vector2 &p, const Eigen::MatrixBase< Tangent_t > &v)
template<typename JacobianOut_t >
static void	Jlog (const Matrix2 &R, const Vector2 &p, const Eigen::MatrixBase< JacobianOut_t > &J)
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)
template<class ConfigL_t , class ConfigR_t , class JacobianLOut_t , class JacobianROut_t >
static void	Jdifference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianLOut_t > &J0, const Eigen::MatrixBase< JacobianROut_t > &J1)
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J)
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J)
template<class Config_t >
static void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout)
template<class ConfigL_t , class ConfigR_t >
static bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec)

Additional Inherited Members
Protected Member Functions inherited from LieGroupBase< SpecialEuclideanOperation< 2 > >
	LieGroupBase ()
	LieGroupBase (const LieGroupBase &)

Detailed Description

template<>
struct se3::SpecialEuclideanOperation< 2 >

Definition at line 47 of file special-euclidean.hpp.

Member Function Documentation

Index nq ( ) const

inline

Get dimension of Lie Group vector representation

For instance, for SO(3), the dimension of the vector representation is 4 (quaternion) while the dimension of the tangent space is 3.

Definition at line 147 of file special-euclidean.hpp.

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

• special-euclidean.hpp