Inheritance diagram for SpecialOrthogonalOperation< 3 >:

Collaboration diagram for SpecialOrthogonalOperation< 3 >:

Public Types
typedef Eigen::Quaternion< Scalar >	Quaternion_t

typedef Eigen::Map< Quaternion_t >	QuaternionMap_t

typedef Eigen::Map< const Quaternion_t >	ConstQuaternionMap_t

Public Types inherited from LieGroupBase< SpecialOrthogonalOperation< 3 > >
enum

typedef SpecialOrthogonalOperation< 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 (SpecialOrthogonalOperation)

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 > &, const Eigen::MatrixBase< ConfigR_t > &, const Eigen::MatrixBase< ConfigOut_t > &qout) const

Public Member Functions inherited from LieGroupBase< SpecialOrthogonalOperation< 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.

SpecialOrthogonalOperation< 3 > &	derived ()

const SpecialOrthogonalOperation< 3 > &	derived () const

Static Public Member Functions
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 ConfigL_t , class ConfigR_t , class ConfigOut_t >
static void	interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout)

template<class ConfigL_t , class ConfigR_t >
static double	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)

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< SpecialOrthogonalOperation< 3 > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

Detailed Description

template<>
struct se3::SpecialOrthogonalOperation< 3 >

Definition at line 236 of file special-orthogonal.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 248 of file special-orthogonal.hpp.

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

special-orthogonal.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<> struct se3::SpecialOrthogonalOperation< 3 >

Member Function Documentation

template<>
struct se3::SpecialOrthogonalOperation< 3 >