#include <isometry3.h>

Inheritance diagram for sophus::Isometry3< TScalar >:

Collaboration diagram for sophus::Isometry3< TScalar >:

Public Types
using	Scalar = TScalar

using	Base = lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >

using	Rotation = Rotation3< Scalar >

using	Tangent = typename Base::Tangent

using	Params = typename Base::Params

using	Point = typename Base::Point

Public Types inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
using	Scalar = TScalar

using	Impl = lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct< TScalar >

using	ScalarReturn = typename Eigen::ScalarBinaryOpTraits< Scalar, TCompatibleScalar >::ReturnType

using	Derived = Isometry3< Scalar >

using	DerivedReturn = Isometry3< 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 >

Public Member Functions
	Isometry3 ()=default

	Isometry3 (UninitTag)

	Isometry3 (Eigen::Vector< Scalar, 3 > const &translation, Rotation3< Scalar > const &group)

	Isometry3 (Rotation3< Scalar > const &group, Eigen::Vector< Scalar, 3 > const &translation)

	Isometry3 (Rotation3< Scalar > const &group)

	Isometry3 (Eigen::Vector< Scalar, 3 > const &translation)

template<class TOtherScalar >
auto	cast () const -> Isometry3< TOtherScalar >

auto	translation () -> Eigen::VectorBlock< Params, 3 >

auto	translation () const -> Eigen::VectorBlock< Params const, 3 >

auto	rotation () const -> Rotation3< Scalar > const

auto	setRotation (Rotation3< Scalar > const &rotation)

auto	rotationMatrix () const -> Eigen::Matrix3< Scalar >

auto	unitQuaternion () const -> Quaternion< Scalar >

auto	setUnitQuaternion (Quaternion< Scalar > const &z) const -> void

auto	so3 () const -> Rotation3< Scalar > const

Public Member Functions inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
	Group ()

	Group (Group const &)=default

auto	operator= (Group const &) -> Group &=default

auto	log () const -> Tangent

auto	hasShortestPathAmbiguity () -> bool

auto	operator* (Isometry3< 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)

Static Public Member Functions
static auto	fromRotationMatrix (Eigen::Matrix3< Scalar > const &mat_r) -> Isometry3

static auto	fromUnitQuaternion (Quaternion< Scalar > const &q) -> Isometry3

static auto	fitFromQuaternion (Quaternion< Scalar > const &q) -> Isometry3

template<class TT0 , class TT1 , class TT2 >
static auto	fromT (TT0 const &x, TT1 const &y, TT2 const &z) -> Isometry3
	Construct a translation only Isometry3 instance. More...

static auto	fromTx (Scalar const &x) -> Isometry3
	Construct x-axis translation. More...

static auto	fromTy (Scalar const &y) -> Isometry3
	Construct y-axis translation. More...

static auto	fromTz (Scalar const &z) -> Isometry3
	Construct z-axis translation. More...

static auto	fromRx (Scalar const &x) -> Isometry3
	Construct x-axis rotation. More...

static auto	fromRy (Scalar const &y) -> Isometry3
	Construct y-axis rotation. More...

static auto	fromRz (Scalar const &z) -> Isometry3
	Construct z-axis rotation. More...

Static Public Member Functions inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
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 >

Additional Inherited Members
Static Public Attributes inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
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< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
	Group (UninitTag)

auto	self () -> Derived &

auto	self () const -> Derived const &

void	setParamsUnchecked (Params const &params)

Static Protected Member Functions inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
static auto	fromParamsUnchecked (Params const &params) -> Derived

Protected Attributes inherited from sophus::lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup< 3, lie::Rotation3Impl >::SemiDirectProduct >
Params	params_

Member Typedef Documentation

◆ Base

template<class TScalar >

using sophus::Isometry3< TScalar >::Base = lie::Group< Isometry3, TScalar, lie::WithDimAndSubgroup<3, lie::Rotation3Impl>::SemiDirectProduct>

◆ Params

template<class TScalar >

using sophus::Isometry3< TScalar >::Params = typename Base::Params

◆ Point

template<class TScalar >

using sophus::Isometry3< TScalar >::Point = typename Base::Point

◆ Rotation

template<class TScalar >

using sophus::Isometry3< TScalar >::Rotation = Rotation3<Scalar>

◆ Scalar

template<class TScalar >

using sophus::Isometry3< TScalar >::Scalar = TScalar

◆ Tangent

template<class TScalar >

using sophus::Isometry3< TScalar >::Tangent = typename Base::Tangent

Constructor & Destructor Documentation

◆ Isometry3() [1/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3 ( )

default

◆ Isometry3() [2/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3 ( UninitTag )

inlineexplicit

◆ Isometry3() [3/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3	(	Eigen::Vector< Scalar, 3 > const &	translation,
		Rotation3< Scalar > const &	group
	)

inline

◆ Isometry3() [4/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3	(	Rotation3< Scalar > const &	group,
		Eigen::Vector< Scalar, 3 > const &	translation
	)

inlineexplicit

◆ Isometry3() [5/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3 ( Rotation3< Scalar > const & group )

inline

◆ Isometry3() [6/6]

template<class TScalar >

sophus::Isometry3< TScalar >::Isometry3 ( Eigen::Vector< Scalar, 3 > const & translation )

inline

Member Function Documentation

◆ cast()

template<class TScalar >

template<class TOtherScalar >

auto sophus::Isometry3< TScalar >::cast ( ) const -> Isometry3<TOtherScalar>

inline

◆ fitFromQuaternion()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fitFromQuaternion ( Quaternion< Scalar > const & q ) -> Isometry3

inlinestatic

◆ fromRotationMatrix()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromRotationMatrix ( Eigen::Matrix3< Scalar > const & mat_r ) -> Isometry3

inlinestatic

◆ fromRx()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromRx ( Scalar const & x ) -> Isometry3

inlinestatic

Construct x-axis rotation.

◆ fromRy()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromRy ( Scalar const & y ) -> Isometry3

inlinestatic

Construct y-axis rotation.

◆ fromRz()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromRz ( Scalar const & z ) -> Isometry3

inlinestatic

Construct z-axis rotation.

◆ fromT()

template<class TScalar >

template<class TT0 , class TT1 , class TT2 >

static auto sophus::Isometry3< TScalar >::fromT	(	TT0 const &	x,
		TT1 const &	y,
		TT2 const &	z
	)		-> Isometry3

inlinestatic

Construct a translation only Isometry3 instance.

◆ fromTx()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromTx ( Scalar const & x ) -> Isometry3

inlinestatic

Construct x-axis translation.

◆ fromTy()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromTy ( Scalar const & y ) -> Isometry3

inlinestatic

Construct y-axis translation.

◆ fromTz()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromTz ( Scalar const & z ) -> Isometry3

inlinestatic

Construct z-axis translation.

◆ fromUnitQuaternion()

template<class TScalar >

static auto sophus::Isometry3< TScalar >::fromUnitQuaternion ( Quaternion< Scalar > const & q ) -> Isometry3

inlinestatic

◆ rotation()

template<class TScalar >

auto sophus::Isometry3< TScalar >::rotation ( ) const -> Rotation3<Scalar> const

inline

◆ rotationMatrix()

template<class TScalar >

auto sophus::Isometry3< TScalar >::rotationMatrix ( ) const -> Eigen::Matrix3<Scalar>

inline

◆ setRotation()

template<class TScalar >

auto sophus::Isometry3< TScalar >::setRotation ( Rotation3< Scalar > const & rotation )

inline

◆ setUnitQuaternion()

template<class TScalar >

auto sophus::Isometry3< TScalar >::setUnitQuaternion ( Quaternion< Scalar > const & z ) const -> void

inline

◆ so3()

template<class TScalar >

auto sophus::Isometry3< TScalar >::so3 ( ) const -> Rotation3<Scalar> const

inline

◆ translation() [1/2]

template<class TScalar >

auto sophus::Isometry3< TScalar >::translation ( ) -> Eigen::VectorBlock<Params, 3>

inline

◆ translation() [2/2]

template<class TScalar >

auto sophus::Isometry3< TScalar >::translation ( ) const -> Eigen::VectorBlock<Params const, 3>

inline

◆ unitQuaternion()

template<class TScalar >

auto sophus::Isometry3< TScalar >::unitQuaternion ( ) const -> Quaternion<Scalar>

inline

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

projects/farm-ng-core/cpp/sophus/lie/isometry3.h

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Base

◆ Params

◆ Point

◆ Rotation

◆ Scalar

◆ Tangent

Constructor & Destructor Documentation

◆ Isometry3() [1/6]

◆ Isometry3() [2/6]

◆ Isometry3() [3/6]

◆ Isometry3() [4/6]

◆ Isometry3() [5/6]

◆ Isometry3() [6/6]

Member Function Documentation

◆ cast()

◆ fitFromQuaternion()

◆ fromRotationMatrix()

◆ fromRx()

◆ fromRy()

◆ fromRz()

◆ fromT()

◆ fromTx()

◆ fromTy()

◆ fromTz()

◆ fromUnitQuaternion()

◆ rotation()

◆ rotationMatrix()

◆ setRotation()

◆ setUnitQuaternion()

◆ so3()

◆ translation() [1/2]

◆ translation() [2/2]

◆ unitQuaternion()