Public Member Functions | |
SE3 () | |
template<class A> | |
SE3 (const SO3 &R, const FixedVector< 3, A > &T) | |
SO3 & | get_rotation () |
const SO3 & | get_rotation () const |
Vector< 3 > & | get_translation () |
const Vector< 3 > & | get_translation () const |
Vector< 6 > | ln () const |
SE3 | inverse () const |
SE3 | operator * (const SE3 &rhs) const |
SE3 & | left_multiply_by (const SE3 &left) |
template<class Accessor> | |
void | adjoint (FixedVector< 6, Accessor > &vect) const |
template<class Accessor> | |
void | trinvadjoint (FixedVector< 6, Accessor > &vect) const |
template<class Accessor> | |
void | adjoint (FixedMatrix< 6, 6, Accessor > &M) const |
template<class Accessor> | |
void | trinvadjoint (FixedMatrix< 6, 6, Accessor > &M) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | project_transformed_point (const FixedVector< 3, A1 > &in_frame, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const |
template<class A> | |
Vector< 3 > | transform (const FixedVector< 3, A > &x) const |
template<class A1, class A2, class A3> | |
Vector< 3 > | transform (const FixedVector< 3, A1 > &x, FixedMatrix< 3, 3, A2 > &J_x, FixedMatrix< 3, 6, A3 > &J_pose) const |
template<class A> | |
Vector< 3 > | transform_uvq (const FixedVector< 3, A > &uvq) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | transform_and_project (const FixedVector< 3, A1 > &x, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | transform_and_project_uvq (const FixedVector< 3, A1 > &uvq, FixedMatrix< 2, 3, A2 > &J_uvq, FixedMatrix< 2, 6, A3 > &J_pose) const |
template<class A> | |
SE3 (const SO3 &R, const FixedVector< 3, A > &T) | |
SO3 & | get_rotation () |
const SO3 & | get_rotation () const |
Vector< 3 > & | get_translation () |
const Vector< 3 > & | get_translation () const |
Vector< 6 > | ln () const |
SE3 | operator * (const SE3 &rhs) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | project_transformed_point (const FixedVector< 3, A1 > &in_frame, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const |
template<class A> | |
Vector< 3 > | transform (const FixedVector< 3, A > &x) const |
template<class A1, class A2, class A3> | |
Vector< 3 > | transform (const FixedVector< 3, A1 > &x, FixedMatrix< 3, 3, A2 > &J_x, FixedMatrix< 3, 6, A3 > &J_pose) const |
template<class A> | |
Vector< 3 > | transform_uvq (const FixedVector< 3, A > &uvq) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | transform_and_project (const FixedVector< 3, A1 > &x, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const |
template<class A1, class A2, class A3> | |
Vector< 2 > | transform_and_project_uvq (const FixedVector< 3, A1 > &uvq, FixedMatrix< 2, 3, A2 > &J_uvq, FixedMatrix< 2, 6, A3 > &J_pose) const |
Static Public Member Functions | |
static SE3 | exp (const Vector< 6 > &vect) |
static Vector< 6 > | ln (const SE3 &se3) |
static Vector< 4 > | generator_field (int i, Vector< 4 > pos) |
Friends | |
std::istream & | operator>> (std::istream &is, SE3 &rhs) |
std::istream & | operator>> (std::istream &is, SE3 &rhs) |
Definition at line 29 of file se3.h.