farm-ng-core
Public Types | Static Public Member Functions | Static Public Attributes | List of all members
sophus::linalg::UnitVectorImpl< TScalar, kDim > Class Template Reference

#include <unit_vector.h>

Public Types

using Scalar = TScalar
 
using Params = Eigen::Vector< Scalar, kNumParams >
 
using Tangent = Eigen::Vector< Scalar, kDof >
 

Static Public Member Functions

static auto unitX () -> UnitVector< Scalar, kDim >
 
static auto unitY () -> UnitVector< Scalar, kDim >
 
static auto unitZ () -> UnitVector< Scalar, kDim >
 
static auto areParamsValid (Params const &unit_vector) -> sophus::Expected< Success >
 
static auto oplus (Params const &params, Tangent const &delta) -> Params
 
static auto ominus (Params const &lhs_params, Params const &rhs_params) -> Tangent
 
static auto paramsExamples () -> std::vector< Params >
 
static auto invalidParamsExamples () -> std::vector< Params >
 
static auto tangentExamples () -> std::vector< Tangent >
 

Static Public Attributes

static constexpr int kDof = kDim - 1
 
static constexpr int kNumParams = kDim
 

Member Typedef Documentation

◆ Params

template<class TScalar , int kDim>
using sophus::linalg::UnitVectorImpl< TScalar, kDim >::Params = Eigen::Vector<Scalar, kNumParams>

◆ Scalar

template<class TScalar , int kDim>
using sophus::linalg::UnitVectorImpl< TScalar, kDim >::Scalar = TScalar

◆ Tangent

template<class TScalar , int kDim>
using sophus::linalg::UnitVectorImpl< TScalar, kDim >::Tangent = Eigen::Vector<Scalar, kDof>

Member Function Documentation

◆ areParamsValid()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::areParamsValid ( Params const &  unit_vector) -> sophus::Expected<Success>
inlinestatic

◆ invalidParamsExamples()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::invalidParamsExamples ( ) -> std::vector<Params>
inlinestatic

◆ ominus()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::ominus ( Params const &  lhs_params,
Params const &  rhs_params 
) -> Tangent
inlinestatic

◆ oplus()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::oplus ( Params const &  params,
Tangent const &  delta 
) -> Params
inlinestatic

◆ paramsExamples()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::paramsExamples ( ) -> std::vector<Params>
inlinestatic

◆ tangentExamples()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::tangentExamples ( ) -> std::vector<Tangent>
inlinestatic

◆ unitX()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::unitX ( ) -> UnitVector<Scalar, kDim>
inlinestatic

◆ unitY()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::unitY ( ) -> UnitVector<Scalar, kDim>
inlinestatic

◆ unitZ()

template<class TScalar , int kDim>
static auto sophus::linalg::UnitVectorImpl< TScalar, kDim >::unitZ ( ) -> UnitVector<Scalar, kDim>
inlinestatic

Member Data Documentation

◆ kDof

template<class TScalar , int kDim>
constexpr int sophus::linalg::UnitVectorImpl< TScalar, kDim >::kDof = kDim - 1
staticconstexpr

◆ kNumParams

template<class TScalar , int kDim>
constexpr int sophus::linalg::UnitVectorImpl< TScalar, kDim >::kNumParams = kDim
staticconstexpr
The documentation for this class was generated from the following file: