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SE(3) More...
#include <multibody/liegroup/special-euclidean.hpp>
Public Types | |
| typedef CartesianProductOperation< VectorSpaceOperation< 3 >, SpecialOrthogonalOperation< 3 > > | R3crossSO3_t |
| typedef Eigen::Quaternion< Scalar > | Quaternion_t |
| typedef Eigen::Map< Quaternion_t > | QuaternionMap_t |
| typedef Eigen::Map< const Quaternion_t > | ConstQuaternionMap_t |
| typedef SE3 | Transformation_t |
 Public Types inherited from LieGroupBase< SpecialEuclideanOperation< 3 > > | |
| enum | |
| typedef SpecialEuclideanOperation< 3 > | 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< 3 > > | |
| 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< 3 > & | derived () |
| const SpecialEuclideanOperation< 3 > & | derived () const |
Additional Inherited Members | |
| Protected Member Functions inherited from LieGroupBase< SpecialEuclideanOperation< 3 > > | |
| LieGroupBase () | |
| LieGroupBase (const LieGroupBase &) | |
SE(3)
Definition at line 319 of file special-euclidean.hpp.
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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 334 of file special-euclidean.hpp.
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