#include <spiral_similarity3.h>

Public Types
using	Scalar = TScalar

using	Quaternion = QuaternionImpl< TScalar >

using	Tangent = Eigen::Vector< Scalar, kDof >

using	Params = Eigen::Vector< Scalar, kNumParams >

using	Point = Eigen::Vector< Scalar, kPointDim >

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

template<class TCompatibleScalar >
using	ParamsReturn = Eigen::Vector< ScalarReturn< TCompatibleScalar >, kNumParams >

template<class TCompatibleScalar >
using	PointReturn = Eigen::Vector< ScalarReturn< TCompatibleScalar >, kPointDim >

template<class TCompatibleScalar >
using	UnitVectorReturn = UnitVector< ScalarReturn< TCompatibleScalar >, kPointDim >

Static Public Member Functions
static auto	identityParams () -> Params

static auto	areParamsValid (Params const &non_zero_quat) -> sophus::Expected< Success >

static auto	hasShortestPathAmbiguity (Params const &non_zero_quat) -> bool

static auto	exp (Tangent const &omega_logscale) -> Params

static auto	log (Params const &non_zero_quat) -> Tangent

static auto	hat (Tangent const &omega_logscale) -> Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim >

static auto	vee (Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim > const &mat) -> Eigen::Matrix< Scalar, kDof, 1 >

static auto	inverse (Params const &non_zero_quat) -> Params

template<class TCompatibleScalar >
static auto	multiplication (Params const &lhs_params, Eigen::Vector< TCompatibleScalar, kNumParams > const &rhs_params) -> ParamsReturn< TCompatibleScalar >

template<class TCompatibleScalar >
static auto	action (Params const &non_zero_quat, Eigen::Vector< TCompatibleScalar, kPointDim > const &point) -> PointReturn< TCompatibleScalar >

template<class TCompatibleScalar >
static auto	action (Params const &non_zero_quat, UnitVector< TCompatibleScalar, kPointDim > const &direction_vector) -> UnitVectorReturn< TCompatibleScalar >

static auto	toAmbient (Point const &point) -> Eigen::Vector< Scalar, kAmbientDim >

static auto	adj (Params const &non_zero_quat) -> Eigen::Matrix< Scalar, kDof, kDof >

static auto	compactMatrix (Params const &non_zero_quat) -> Eigen::Matrix< Scalar, kPointDim, kPointDim >

static auto	matrix (Params const &non_zero_quat) -> Eigen::Matrix< Scalar, kPointDim, kPointDim >

static auto	matV (Params const &, Tangent const &angle_logscale) -> Eigen::Matrix< Scalar, kPointDim, kPointDim >

static auto	matVInverse (Params const &non_zero_quat, Tangent const &angle_logscale) -> Eigen::Matrix< Scalar, kPointDim, kPointDim >

static auto	adjOfTranslation (Params const &quat, Point const &point) -> Eigen::Matrix< Scalar, kPointDim, kDof >

static auto	adOfTranslation (Point const &point) -> Eigen::Matrix< Scalar, kPointDim, kDof >

static auto	ad (Tangent const &tangent) -> Eigen::Matrix< Scalar, kDof, kDof >

static auto	dxExpX (Tangent const &a) -> Eigen::Matrix< Scalar, kNumParams, kDof >

static auto	dxExpXAt0 () -> Eigen::Matrix< Scalar, kNumParams, kDof >

static auto	dxExpXTimesPointAt0 (Point const &point) -> Eigen::Matrix< Scalar, kPointDim, kDof >

static auto	dxThisMulExpXAt0 (Params const &non_zero_quat) -> Eigen::Matrix< Scalar, kNumParams, kDof >

static auto	dxLogThisInvTimesXAtThis (Params const &q) -> Eigen::Matrix< Scalar, kDof, kNumParams >

static auto	tangentExamples () -> std::vector< Tangent >

static auto	paramsExamples () -> std::vector< Params >

static auto	invalidParamsExamples () -> std::vector< Params >

Static Public Attributes
static constexpr bool	kIsOriginPreserving = true

static constexpr bool	kIsAxisDirectionPreserving = false

static constexpr bool	kIsDirectionVectorPreserving = false

static constexpr bool	kIsShapePreserving = false

static constexpr bool	kIisSizePreserving = true

static constexpr bool	kIisParallelLinePreserving = true

static const int	kDof = 4

static const int	kNumParams = 4

static const int	kPointDim = 3

static const int	kAmbientDim = 3

Member Typedef Documentation

◆ Params

template<class TScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::Params = Eigen::Vector<Scalar, kNumParams>

◆ ParamsReturn

template<class TScalar >

template<class TCompatibleScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::ParamsReturn = Eigen::Vector<ScalarReturn<TCompatibleScalar>, kNumParams>

◆ Point

template<class TScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::Point = Eigen::Vector<Scalar, kPointDim>

◆ PointReturn

template<class TScalar >

template<class TCompatibleScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::PointReturn = Eigen::Vector<ScalarReturn<TCompatibleScalar>, kPointDim>

◆ Quaternion

template<class TScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::Quaternion = QuaternionImpl<TScalar>

◆ Scalar

template<class TScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::Scalar = TScalar

◆ ScalarReturn

template<class TScalar >

template<class TCompatibleScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::ScalarReturn = typename Eigen:: ScalarBinaryOpTraits<Scalar, TCompatibleScalar>::ReturnType

◆ Tangent

template<class TScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::Tangent = Eigen::Vector<Scalar, kDof>

◆ UnitVectorReturn

template<class TScalar >

template<class TCompatibleScalar >

using sophus::lie::SpiralSimilarity3Impl< TScalar >::UnitVectorReturn = UnitVector<ScalarReturn<TCompatibleScalar>, kPointDim>

Member Function Documentation

◆ action() [1/2]

template<class TScalar >

template<class TCompatibleScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::action	(	Params const &	non_zero_quat,
		Eigen::Vector< TCompatibleScalar, kPointDim > const &	point
	)		-> PointReturn<TCompatibleScalar>

inlinestatic

◆ action() [2/2]

template<class TScalar >

template<class TCompatibleScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::action	(	Params const &	non_zero_quat,
		UnitVector< TCompatibleScalar, kPointDim > const &	direction_vector
	)		-> UnitVectorReturn<TCompatibleScalar>

inlinestatic

◆ ad()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::ad ( Tangent const & tangent ) -> Eigen::Matrix<Scalar, kDof, kDof>

inlinestatic

◆ adj()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::adj ( Params const & non_zero_quat ) -> Eigen::Matrix<Scalar, kDof, kDof>

inlinestatic

◆ adjOfTranslation()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::adjOfTranslation	(	Params const &	quat,
		Point const &	point
	)		-> Eigen::Matrix<Scalar, kPointDim, kDof>

inlinestatic

◆ adOfTranslation()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::adOfTranslation ( Point const & point ) -> Eigen::Matrix<Scalar, kPointDim, kDof>

inlinestatic

◆ areParamsValid()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::areParamsValid ( Params const & non_zero_quat ) -> sophus::Expected<Success>

inlinestatic

◆ compactMatrix()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::compactMatrix ( Params const & non_zero_quat ) -> Eigen::Matrix<Scalar, kPointDim, kPointDim>

inlinestatic

◆ dxExpX()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::dxExpX ( Tangent const & a ) -> Eigen::Matrix<Scalar, kNumParams, kDof>

inlinestatic

◆ dxExpXAt0()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::dxExpXAt0 ( ) -> Eigen::Matrix<Scalar, kNumParams, kDof>

inlinestatic

◆ dxExpXTimesPointAt0()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::dxExpXTimesPointAt0 ( Point const & point ) -> Eigen::Matrix<Scalar, kPointDim, kDof>

inlinestatic

◆ dxLogThisInvTimesXAtThis()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::dxLogThisInvTimesXAtThis ( Params const & q ) -> Eigen::Matrix<Scalar, kDof, kNumParams>

inlinestatic

◆ dxThisMulExpXAt0()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::dxThisMulExpXAt0 ( Params const & non_zero_quat ) -> Eigen::Matrix<Scalar, kNumParams, kDof>

inlinestatic

◆ exp()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::exp ( Tangent const & omega_logscale ) -> Params

inlinestatic

◆ hasShortestPathAmbiguity()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::hasShortestPathAmbiguity ( Params const & non_zero_quat ) -> bool

inlinestatic

◆ hat()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::hat ( Tangent const & omega_logscale ) -> Eigen::Matrix<Scalar, kAmbientDim, kAmbientDim>

inlinestatic

◆ identityParams()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::identityParams ( ) -> Params

inlinestatic

◆ invalidParamsExamples()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::invalidParamsExamples ( ) -> std::vector<Params>

inlinestatic

◆ inverse()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::inverse ( Params const & non_zero_quat ) -> Params

inlinestatic

◆ log()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::log ( Params const & non_zero_quat ) -> Tangent

inlinestatic

◆ matrix()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::matrix ( Params const & non_zero_quat ) -> Eigen::Matrix<Scalar, kPointDim, kPointDim>

inlinestatic

◆ matV()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::matV	(	Params const &	,
		Tangent const &	angle_logscale
	)		-> Eigen::Matrix<Scalar, kPointDim, kPointDim>

inlinestatic

◆ matVInverse()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::matVInverse	(	Params const &	non_zero_quat,
		Tangent const &	angle_logscale
	)		-> Eigen::Matrix<Scalar, kPointDim, kPointDim>

inlinestatic

◆ multiplication()

template<class TScalar >

template<class TCompatibleScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::multiplication	(	Params const &	lhs_params,
		Eigen::Vector< TCompatibleScalar, kNumParams > const &	rhs_params
	)		-> ParamsReturn<TCompatibleScalar>

inlinestatic

Saturation to ensure class invariant.

◆ paramsExamples()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::paramsExamples ( ) -> std::vector<Params>

inlinestatic

◆ tangentExamples()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::tangentExamples ( ) -> std::vector<Tangent>

inlinestatic

◆ toAmbient()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::toAmbient ( Point const & point ) -> Eigen::Vector<Scalar, kAmbientDim>

inlinestatic

◆ vee()

template<class TScalar >

static auto sophus::lie::SpiralSimilarity3Impl< TScalar >::vee ( Eigen::Matrix< Scalar, kAmbientDim, kAmbientDim > const & mat ) -> Eigen::Matrix<Scalar, kDof, 1>

inlinestatic

Member Data Documentation

◆ kAmbientDim

template<class TScalar >

const int sophus::lie::SpiralSimilarity3Impl< TScalar >::kAmbientDim = 3

static

◆ kDof

template<class TScalar >

const int sophus::lie::SpiralSimilarity3Impl< TScalar >::kDof = 4

static

◆ kIisParallelLinePreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIisParallelLinePreserving = true

staticconstexpr

◆ kIisSizePreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIisSizePreserving = true

staticconstexpr

◆ kIsAxisDirectionPreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIsAxisDirectionPreserving = false

staticconstexpr

◆ kIsDirectionVectorPreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIsDirectionVectorPreserving = false

staticconstexpr

◆ kIsOriginPreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIsOriginPreserving = true

staticconstexpr

◆ kIsShapePreserving

template<class TScalar >

constexpr bool sophus::lie::SpiralSimilarity3Impl< TScalar >::kIsShapePreserving = false

staticconstexpr

◆ kNumParams

template<class TScalar >

const int sophus::lie::SpiralSimilarity3Impl< TScalar >::kNumParams = 4

static

◆ kPointDim

template<class TScalar >

const int sophus::lie::SpiralSimilarity3Impl< TScalar >::kPointDim = 3

static

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

projects/farm-ng-core/cpp/sophus/lie/impl/spiral_similarity3.h

Public Types

Static Public Member Functions

Static Public Attributes

Member Typedef Documentation

◆ Params

◆ ParamsReturn

◆ Point

◆ PointReturn

◆ Quaternion

◆ Scalar

◆ ScalarReturn

◆ Tangent

◆ UnitVectorReturn

Member Function Documentation

◆ action() [1/2]

◆ action() [2/2]

◆ ad()

◆ adj()

◆ adjOfTranslation()

◆ adOfTranslation()

◆ areParamsValid()

◆ compactMatrix()

◆ dxExpX()

◆ dxExpXAt0()

◆ dxExpXTimesPointAt0()

◆ dxLogThisInvTimesXAtThis()

◆ dxThisMulExpXAt0()

◆ exp()

◆ hasShortestPathAmbiguity()

◆ hat()

◆ identityParams()

◆ invalidParamsExamples()

◆ inverse()

◆ log()

◆ matrix()

◆ matV()

◆ matVInverse()

◆ multiplication()

◆ paramsExamples()

◆ tangentExamples()

◆ toAmbient()

◆ vee()

Member Data Documentation

◆ kAmbientDim

◆ kDof

◆ kIisParallelLinePreserving

◆ kIisSizePreserving

◆ kIsAxisDirectionPreserving

◆ kIsDirectionVectorPreserving

◆ kIsOriginPreserving

◆ kIsShapePreserving

◆ kNumParams

◆ kPointDim