sophus::UnitVector< TScalar, kN > Class Template Reference

#include <lie_group.h>

Public Types
using	Scalar = TScalar
using	Impl = linalg::UnitVectorImpl< Scalar, kN >
using	Tangent = Eigen::Vector< Scalar, kDof >
using	Params = Eigen::Vector< Scalar, kNumParams >

Public Member Functions
auto	oplus (Tangent const &delta) const -> UnitVector
auto	ominus (UnitVector const &rhs_params) const -> Tangent
void	setParams (Eigen::Matrix< TScalar, kN, 1 > const &v) const
auto	params () const -> Eigen::Matrix< TScalar, kN, 1 > const &
auto	vector () const -> Eigen::Matrix< TScalar, kN, 1 > const &
auto	unsafeMutPtr ()
auto	ptr () const
	UnitVector (UnitVector const &)=default
auto	operator= (UnitVector const &) -> UnitVector &=default

Static Public Member Functions
static auto	tryFromUnitVector (Eigen::Matrix< TScalar, kN, 1 > const &v) -> Expected< UnitVector >
static auto	fromParams (Eigen::Matrix< TScalar, kN, 1 > const &v) -> UnitVector
static auto	fromUnitVector (Eigen::Matrix< TScalar, kN, 1 > const &v) -> UnitVector
static auto	fromVectorAndNormalize (Eigen::Matrix< TScalar, kN, 1 > const &v) -> UnitVector
template<concepts::Range TSequenceContainer>
static auto	average (TSequenceContainer const &range) -> UnitVector

Static Public Attributes
static constexpr int	kDof = kN - 1
static constexpr int	kNumParams = kN

Member Typedef Documentation

Impl

template<class TScalar , int kN>

using sophus::UnitVector< TScalar, kN >::Impl = linalg::UnitVectorImpl<Scalar, kN>

Params

template<class TScalar , int kN>

using sophus::UnitVector< TScalar, kN >::Params = Eigen::Vector<Scalar, kNumParams>

Scalar

template<class TScalar , int kN>

using sophus::UnitVector< TScalar, kN >::Scalar = TScalar

Tangent

template<class TScalar , int kN>

using sophus::UnitVector< TScalar, kN >::Tangent = Eigen::Vector<Scalar, kDof>

Constructor & Destructor Documentation

UnitVector()

template<class TScalar , int kN>

sophus::UnitVector< TScalar, kN >::UnitVector ( UnitVector< TScalar, kN > const &  )

default

Member Function Documentation

average()

template<class TScalar , int kN>

template<concepts::Range TSequenceContainer>

static auto sophus::UnitVector< TScalar, kN >::average ( TSequenceContainer const &  range ) -> UnitVector

inlinestatic

fromParams()

template<class TScalar , int kN>

static auto sophus::UnitVector< TScalar, kN >::fromParams ( Eigen::Matrix< TScalar, kN, 1 > const &  v ) -> UnitVector

inlinestatic

fromUnitVector()

template<class TScalar , int kN>

static auto sophus::UnitVector< TScalar, kN >::fromUnitVector ( Eigen::Matrix< TScalar, kN, 1 > const &  v ) -> UnitVector

inlinestatic

fromVectorAndNormalize()

template<class TScalar , int kN>

static auto sophus::UnitVector< TScalar, kN >::fromVectorAndNormalize ( Eigen::Matrix< TScalar, kN, 1 > const &  v ) -> UnitVector

inlinestatic

ominus()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::ominus ( UnitVector< TScalar, kN > const &  rhs_params ) const -> Tangent

inline

operator=()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::operator= ( UnitVector< TScalar, kN > const &  ) -> UnitVector &=default

default

oplus()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::oplus ( Tangent const &  delta ) const -> UnitVector

inline

params()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::params ( ) const -> Eigen::Matrix<TScalar, kN, 1> const&

inline

ptr()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::ptr ( ) const

inline

setParams()

template<class TScalar , int kN>

void sophus::UnitVector< TScalar, kN >::setParams ( Eigen::Matrix< TScalar, kN, 1 > const &  v ) const

inline

tryFromUnitVector()

template<class TScalar , int kN>

static auto sophus::UnitVector< TScalar, kN >::tryFromUnitVector ( Eigen::Matrix< TScalar, kN, 1 > const &  v ) -> Expected<UnitVector>

inlinestatic

unsafeMutPtr()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::unsafeMutPtr ( )

inline

vector()

template<class TScalar , int kN>

auto sophus::UnitVector< TScalar, kN >::vector ( ) const -> Eigen::Matrix<TScalar, kN, 1> const&

inline

Member Data Documentation

kDof

template<class TScalar , int kN>

constexpr int sophus::UnitVector< TScalar, kN >::kDof = kN - 1

staticconstexpr

kNumParams

template<class TScalar , int kN>

constexpr int sophus::UnitVector< TScalar, kN >::kNumParams = kN

staticconstexpr

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

• projects/farm-ng-core/cpp/sophus/concepts/lie_group.h
• projects/farm-ng-core/cpp/sophus/manifold/unit_vector.h