sophus::concepts::accessors Namespace Reference

Variables
template<class TT >
concept	Translation
template<class TT >
concept	Rotation
template<class TT >
concept	TxTy
template<class TT >
concept	TxTyTz
template<class TT >
concept	Isometry
template<class TT >
concept	Similarity
template<class TT >
concept	SpiralSimilarity
template<class TT >
concept	UnitComplex
template<class TT >
concept	UnitQuaternion
template<class TT >
concept	Rotation2
template<class TT >
concept	Rotation3
template<class TT >
concept	Isometry2 = Isometry<TT> && Rotation2<TT> && TxTy<TT>
template<class TT >
concept	Isometry3 = Isometry<TT> && Rotation3<TT> && TxTyTz<TT>
template<class TT >
concept	SpiralSimilarity2
template<class TT >
concept	SpiralSimilarity3
template<class TT >
concept	Similarity2 = Similarity<TT> && SpiralSimilarity2<TT> && TxTy<TT>
template<class TT >
concept	Similarity3 = Similarity<TT> && SpiralSimilarity3<TT> && TxTyTz<TT>

Variable Documentation

Isometry

template<class TT >

concept sophus::concepts::accessors::Isometry

Initial value:

= LieGroup<TT> && Translation<TT> &&
    ConstructibleFrom<TT, typename TT::Rotation> &&
    ConstructibleFrom<TT, typename TT::Point, typename TT::Rotation> &&
    requires(TT g, typename TT::Rotation rotation) {
  { g.rotation() } -> ConvertibleTo<typename TT::Rotation>;
  {g.setRotation(rotation)};
}

Isometry2

template<class TT >

concept sophus::concepts::accessors::Isometry2 = Isometry<TT> && Rotation2<TT> && TxTy<TT>

Isometry3

template<class TT >

concept sophus::concepts::accessors::Isometry3 = Isometry<TT> && Rotation3<TT> && TxTyTz<TT>

Rotation

template<class TT >

concept sophus::concepts::accessors::Rotation

Initial value:

= LieGroup<TT> && requires(
    TT g,
    Eigen::Matrix<typename TT::Scalar, TT::kPointDim, TT::kPointDim> matrix) {
  { TT::fromRotationMatrix(matrix) } -> ConvertibleTo<TT>;
  {
    g.rotationMatrix()
    } -> ConvertibleTo<
        Eigen::Matrix<typename TT::Scalar, TT::kPointDim, TT::kPointDim>>;
}

Rotation2

template<class TT >

concept sophus::concepts::accessors::Rotation2

Initial value:

= Rotation<TT> &&
    requires(TT g, typename TT::Scalar s, Complex<typename TT::Scalar> z) {
  { TT::fromAngle(s) } -> ConvertibleTo<TT>;
  { g.angle() } -> ConvertibleTo<typename TT::Scalar>;
}

Rotation3

template<class TT >

concept sophus::concepts::accessors::Rotation3

Initial value:

= Rotation<TT> &&
    requires(TT g, typename TT::Scalar s, Quaternion<typename TT::Scalar> q) {
  { TT::fromRx(s) } -> ConvertibleTo<TT>;
  { TT::fromRy(s) } -> ConvertibleTo<TT>;
  { TT::fromRz(s) } -> ConvertibleTo<TT>;
}

Similarity

template<class TT >

concept sophus::concepts::accessors::Similarity

Initial value:

= LieGroup<TT> && Translation<TT> &&
    ConstructibleFrom<TT, typename TT::Isometry> && ConstructibleFrom<
        TT,
        typename TT::Point,
        typename TT::Rotation,
        typename TT::Scalar> &&
    ConstructibleFrom<TT, typename TT::SpiralSimilarity> &&
    ConstructibleFrom<TT, typename TT::Point, typename TT::SpiralSimilarity>

Similarity2

template<class TT >

concept sophus::concepts::accessors::Similarity2 = Similarity<TT> && SpiralSimilarity2<TT> && TxTy<TT>

Similarity3

template<class TT >

concept sophus::concepts::accessors::Similarity3 = Similarity<TT> && SpiralSimilarity3<TT> && TxTyTz<TT>

SpiralSimilarity

template<class TT >

concept sophus::concepts::accessors::SpiralSimilarity

Initial value:

= Rotation<TT> &&
    ConstructibleFrom<TT, typename TT::Rotation> &&
    ConstructibleFrom<TT, typename TT::Rotation, typename TT::Scalar> &&
    requires(TT g, typename TT::Scalar scale, typename TT::Rotation rotation) {
  { TT::fromScale(scale) } -> ConvertibleTo<TT>;
  { g.rotation() } -> ConvertibleTo<typename TT::Rotation>;
  {g.setRotation(rotation)};
  { g.scale() } -> ConvertibleTo<typename TT::Scalar>;
  {g.setScale(scale)};
}

SpiralSimilarity2

template<class TT >

concept sophus::concepts::accessors::SpiralSimilarity2

Initial value:

= Rotation2<TT> && SpiralSimilarity<TT> &&
    requires(TT g, Complex<typename TT::Scalar> z) {
  { TT::fromComplex(z) } -> ConvertibleTo<TT>;
  { g.complex() } -> ConvertibleTo<Complex<typename TT::Scalar>>;
  {g.setComplex(z)};
}

SpiralSimilarity3

template<class TT >

concept sophus::concepts::accessors::SpiralSimilarity3

Initial value:

= Rotation3<TT> && SpiralSimilarity<TT> &&
    requires(TT g, Quaternion<typename TT::Scalar> q) {
  { TT::fromQuaternion(q) } -> ConvertibleTo<TT>;
  { g.quaternion() } -> ConvertibleTo<Quaternion<typename TT::Scalar>>;
  {g.setQuaternion(q)};
}

Translation

template<class TT >

concept sophus::concepts::accessors::Translation

Initial value:

= LieGroup<TT> &&
    ConstructibleFrom<TT, typename TT::Point> && requires(TT g) {
  { g.translation() } -> ConvertibleTo<typename TT::Point>;
}

TxTy

template<class TT >

concept sophus::concepts::accessors::TxTy

Initial value:

= requires(typename TT::Scalar s) {
  { TT::fromT(s, s) } -> ConvertibleTo<TT>;
  { TT::fromTx(s) } -> ConvertibleTo<TT>;
  { TT::fromTy(s) } -> ConvertibleTo<TT>;
}

TxTyTz

template<class TT >

concept sophus::concepts::accessors::TxTyTz

Initial value:

= requires(typename TT::Scalar s) {
  { TT::fromT(s, s, s) } -> ConvertibleTo<TT>;
  { TT::fromTx(s) } -> ConvertibleTo<TT>;
  { TT::fromTy(s) } -> ConvertibleTo<TT>;
  { TT::fromTz(s) } -> ConvertibleTo<TT>;
}

UnitComplex

template<class TT >

concept sophus::concepts::accessors::UnitComplex

Initial value:

=
    requires(TT g, typename TT::Scalar s, Complex<typename TT::Scalar> z) {
  { TT::fitFromComplex(z) } -> ConvertibleTo<TT>;
  { TT::fromUnitComplex(z) } -> ConvertibleTo<TT>;
  { g.unitComplex() } -> ConvertibleTo<Complex<typename TT::Scalar>>;
  {g.setUnitComplex(z)};
}

UnitQuaternion

template<class TT >

concept sophus::concepts::accessors::UnitQuaternion

Initial value:

=
    requires(TT g, typename TT::Scalar s, Quaternion<typename TT::Scalar> q) {
  { TT::fitFromQuaternion(q) } -> ConvertibleTo<TT>;
  { TT::fromUnitQuaternion(q) } -> ConvertibleTo<TT>;
  { g.unitQuaternion() } -> ConvertibleTo<Quaternion<typename TT::Scalar>>;
  {g.setUnitQuaternion(q)};
}