sophus::Identity< TScalar, kDim > Class Template Reference

#include <identity.h>

Inheritance diagram for sophus::Identity< TScalar, kDim >:

Collaboration diagram for sophus::Identity< TScalar, kDim >:

Public Member Functions
	Identity ()=default
	Identity (UninitTag)
template<class TOtherScalar >
auto	cast () const -> Identity< TOtherScalar, kDim >
Public Member Functions inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
	Group ()
	Group (Group const &)=default
auto	operator= (Group const &) -> Group &=default
auto	log () const -> Tangent
auto	hasShortestPathAmbiguity () -> bool
auto	operator* (lie::IdentityWithDim< kDim >::template Group< TCompatibleScalar > const &rhs) const -> DerivedReturn< TCompatibleScalar >
auto	operator* (Eigen::MatrixBase< TMatrixDerived > const &point) const -> PointReturn< typename TMatrixDerived::Scalar >
auto	operator* (UnitVector< TCompatibleScalar, kPointDim > const &direction_vector) const -> UnitVectorReturn< TCompatibleScalar >
auto	operator*= (Derived const &rhs) -> Derived &
auto	inverse () const -> Derived
auto	adj () const -> Eigen::Matrix< Scalar, kDof, kDof >
auto	leftPlus (Tangent const &tangent) const -> Derived
auto	rightPlus (Tangent const &tangent) const -> Derived
auto	leftMinus (Derived const &other) const -> Tangent
auto	rightMinus (Derived const &other) const -> Tangent
auto	compactMatrix () const -> Eigen::Matrix< Scalar, kPointDim, kAmbientDim >
auto	matrix () const -> Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim >
auto	dxThisMulExpXAt0 () const -> Eigen::Matrix< Scalar, kNumParams, kDof >
auto	dxLogThisInvTimesXAtThis () const -> Eigen::Matrix< Scalar, kDof, kNumParams >
auto	params () const -> Params const &
auto	ptr () const
auto	unsafeMutPtr ()
void	setParams (Params const &params)

Additional Inherited Members
Public Types inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
using	Scalar = TScalar
using	Impl = lie::IdentityWithDim< kDim >::template Impl< TScalar >
using	ScalarReturn = typename Eigen::ScalarBinaryOpTraits< Scalar, TCompatibleScalar >::ReturnType
using	Derived = lie::IdentityWithDim< kDim >::template Group< Scalar >
using	DerivedReturn = lie::IdentityWithDim< kDim >::template Group< ScalarReturn< TCompatibleScalar > >
using	PointReturn = Eigen::Vector< ScalarReturn< TCompatibleScalar >, kPointDim >
using	UnitVectorReturn = UnitVector< ScalarReturn< TCompatibleScalar >, kPointDim >
using	Tangent = Eigen::Vector< Scalar, kDof >
using	Params = Eigen::Vector< Scalar, kNumParams >
using	Point = Eigen::Vector< Scalar, kPointDim >
Static Public Member Functions inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
static auto	fromParams (Params const &params) -> Derived
static auto	identity () -> Derived
static auto	exp (Tangent const &tangent) -> Derived
static auto	hat (Tangent const &tangent) -> Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim >
static auto	vee (Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim > const &mat) -> Tangent
static auto	toAmbient (Point const &point)
static auto	ad (Tangent const &tangent) -> Eigen::Matrix< Scalar, kDof, kDof >
static auto	dxExpXAt0 () -> Eigen::Matrix< Scalar, kNumParams, kDof >
static auto	dxExpXTimesPointAt0 (Point const &point) -> Eigen::Matrix< Scalar, kPointDim, kDof >
static auto	tangentExamples () -> std::vector< Tangent >
static auto	paramsExamples () -> std::vector< Params >
static auto	elementExamples () -> std::vector< Derived >
static auto	invalidParamsExamples () -> std::vector< Params >
Static Public Attributes inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
static constexpr bool	kIsOriginPreserving
static constexpr bool	kIsAxisDirectionPreserving
static constexpr bool	kIsDirectionVectorPreserving
static constexpr bool	kIsShapePreserving
static constexpr bool	kIisSizePreserving
static constexpr bool	kIisParallelLinePreserving
static constexpr int	kDof
static constexpr int	kNumParams
static constexpr int	kPointDim
static constexpr int	kAmbientDim
Protected Member Functions inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
	Group (UninitTag)
auto	self () -> Derived &
auto	self () const -> Derived const &
void	setParamsUnchecked (Params const &params)
Static Protected Member Functions inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
static auto	fromParamsUnchecked (Params const &params) -> Derived
Protected Attributes inherited from sophus::lie::Group< lie::IdentityWithDim< kDim >::template Group, TScalar, lie::IdentityWithDim< kDim >::template Impl >
Params	params_

Constructor & Destructor Documentation

Identity() [1/2]

template<class TScalar , int kDim>

sophus::Identity< TScalar, kDim >::Identity ( )

default

Identity() [2/2]

template<class TScalar , int kDim>

sophus::Identity< TScalar, kDim >::Identity ( UninitTag  )

inlineexplicit

Member Function Documentation

cast()

template<class TScalar , int kDim>

template<class TOtherScalar >

auto sophus::Identity< TScalar, kDim >::cast ( ) const -> Identity<TOtherScalar, kDim>

inline

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

• projects/farm-ng-core/cpp/sophus/lie/identity.h