#include <spatial/se3.hpp>
Public Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (SE3Tpl) | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SE3Tpl () |
template<typename M3 , typename v3 > | |
SE3Tpl (const Eigen::MatrixBase< M3 > &R, const Eigen::MatrixBase< v3 > &p) | |
template<typename M4 > | |
SE3Tpl (const Eigen::MatrixBase< M4 > &m) | |
SE3Tpl (int) | |
template<typename S2 , int O2> | |
SE3Tpl (const SE3Tpl< S2, O2 > &clone) | |
template<typename S2 , int O2> | |
SE3Tpl & | operator= (const SE3Tpl< S2, O2 > &other) |
SE3Tpl & | setIdentity () |
SE3Tpl | inverse () const |
aXb = bXa.inverse() | |
SE3Tpl & | setRandom () |
Matrix4 | toHomogeneousMatrix_impl () const |
Matrix6 | toActionMatrix_impl () const |
Vb.toVector() = bXa.toMatrix() * Va.toVector() | |
void | disp_impl (std::ostream &os) const |
template<typename D > | |
internal::ActionReturn< D >::Type | act_impl (const D &d) const |
ay = aXb.act(by) | |
template<typename D > | |
internal::ActionReturn< D >::Type | actInv_impl (const D &d) const |
by = aXb.actInv(ay) | |
Vector3 | act_impl (const Vector3 &p) const |
Vector3 | actInv_impl (const Vector3 &p) const |
SE3Tpl | act_impl (const SE3Tpl &m2) const |
SE3Tpl | actInv_impl (const SE3Tpl &m2) const |
SE3Tpl | __mult__ (const SE3Tpl &m2) const |
bool | __equal__ (const SE3Tpl &m2) const |
bool | isApprox_impl (const SE3Tpl &m2) const |
const Angular_t & | rotation_impl () const |
Angular_t & | rotation_impl () |
void | rotation_impl (const Angular_t &R) |
const Linear_t & | translation_impl () const |
Linear_t & | translation_impl () |
void | translation_impl (const Linear_t &p) |
Static Public Member Functions | |
static SE3Tpl | Identity () |
static SE3Tpl | Random () |
Protected Attributes | |
Angular_t | rot |
Linear_t | trans |
Friends | |
class | SE3Base< SE3Tpl< _Scalar, _Options > > |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW se3::SE3Tpl< _Scalar, _Options >::SE3Tpl | ( | ) | [inline] |
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl | ( | const Eigen::MatrixBase< M3 > & | R, |
const Eigen::MatrixBase< v3 > & | p | ||
) | [inline] |
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl | ( | const Eigen::MatrixBase< M4 > & | m | ) | [inline] |
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl | ( | int | ) | [inline] |
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl | ( | const SE3Tpl< S2, O2 > & | clone | ) | [inline] |
bool se3::SE3Tpl< _Scalar, _Options >::__equal__ | ( | const SE3Tpl< _Scalar, _Options > & | m2 | ) | const [inline] |
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::__mult__ | ( | const SE3Tpl< _Scalar, _Options > & | m2 | ) | const [inline] |
References se3::SE3Base< SE3Tpl< _Scalar, _Options > >::act().
Referenced by se3::SE3Base< SE3Tpl< _Scalar, _Options > >::operator*().
internal::ActionReturn<D>::Type se3::SE3Tpl< _Scalar, _Options >::act_impl | ( | const D & | d | ) | const [inline] |
ay = aXb.act(by)
--- GROUP ACTIONS ON M6, F6 and I6 ---
Referenced by se3::SE3Base< SE3Tpl< _Scalar, _Options > >::act().
Vector3 se3::SE3Tpl< _Scalar, _Options >::act_impl | ( | const Vector3 & | p | ) | const [inline] |
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::act_impl | ( | const SE3Tpl< _Scalar, _Options > & | m2 | ) | const [inline] |
internal::ActionReturn<D>::Type se3::SE3Tpl< _Scalar, _Options >::actInv_impl | ( | const D & | d | ) | const [inline] |
by = aXb.actInv(ay)
Referenced by se3::SE3Base< SE3Tpl< _Scalar, _Options > >::actInv().
Vector3 se3::SE3Tpl< _Scalar, _Options >::actInv_impl | ( | const Vector3 & | p | ) | const [inline] |
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::actInv_impl | ( | const SE3Tpl< _Scalar, _Options > & | m2 | ) | const [inline] |
void se3::SE3Tpl< _Scalar, _Options >::disp_impl | ( | std::ostream & | os | ) | const [inline] |
static SE3Tpl se3::SE3Tpl< _Scalar, _Options >::Identity | ( | ) | [inline, static] |
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::inverse | ( | ) | const [inline] |
aXb = bXa.inverse()
References se3::SE3Tpl< _Scalar, _Options >::rot, se3::SE3Tpl< _Scalar, _Options >::SE3Tpl(), and se3::SE3Tpl< _Scalar, _Options >::trans.
bool se3::SE3Tpl< _Scalar, _Options >::isApprox_impl | ( | const SE3Tpl< _Scalar, _Options > & | m2 | ) | const [inline] |
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::operator= | ( | const SE3Tpl< S2, O2 > & | other | ) | [inline] |
static SE3Tpl se3::SE3Tpl< _Scalar, _Options >::Random | ( | ) | [inline, static] |
References se3::SE3Tpl< _Scalar, _Options >::SE3Tpl().
Referenced by se3::buildModels::humanoid2d(), and se3::buildModels::humanoidSimple().
const Angular_t& se3::SE3Tpl< _Scalar, _Options >::rotation_impl | ( | ) | const [inline] |
Angular_t& se3::SE3Tpl< _Scalar, _Options >::rotation_impl | ( | ) | [inline] |
References se3::SE3Tpl< _Scalar, _Options >::rot.
void se3::SE3Tpl< _Scalar, _Options >::rotation_impl | ( | const Angular_t & | R | ) | [inline] |
References se3::SE3Tpl< _Scalar, _Options >::rot.
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::setIdentity | ( | ) | [inline] |
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::setRandom | ( | ) | [inline] |
se3::SE3Tpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE | ( | SE3Tpl< _Scalar, _Options > | ) |
Matrix6 se3::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl | ( | ) | const [inline] |
Vb.toVector() = bXa.toMatrix() * Va.toVector()
References se3::SE3Tpl< _Scalar, _Options >::rot, se3::skew(), and se3::SE3Tpl< _Scalar, _Options >::trans.
Referenced by se3::SE3Base< SE3Tpl< _Scalar, _Options > >::toActionMatrix().
Matrix4 se3::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl | ( | ) | const [inline] |
const Linear_t& se3::SE3Tpl< _Scalar, _Options >::translation_impl | ( | ) | const [inline] |
Linear_t& se3::SE3Tpl< _Scalar, _Options >::translation_impl | ( | ) | [inline] |
References se3::SE3Tpl< _Scalar, _Options >::trans.
void se3::SE3Tpl< _Scalar, _Options >::translation_impl | ( | const Linear_t & | p | ) | [inline] |
References se3::SE3Tpl< _Scalar, _Options >::trans.
friend class SE3Base< SE3Tpl< _Scalar, _Options > > [friend] |
Angular_t se3::SE3Tpl< _Scalar, _Options >::rot [protected] |
Referenced by se3::SE3Tpl< _Scalar, _Options >::act_impl(), se3::SE3Tpl< _Scalar, _Options >::actInv_impl(), se3::SE3Tpl< _Scalar, _Options >::disp_impl(), se3::SE3Tpl< _Scalar, _Options >::inverse(), se3::SE3Tpl< _Scalar, _Options >::operator=(), se3::SE3Tpl< _Scalar, _Options >::rotation_impl(), se3::SE3Tpl< _Scalar, _Options >::setIdentity(), se3::SE3Tpl< _Scalar, _Options >::setRandom(), se3::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl(), and se3::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl().
Linear_t se3::SE3Tpl< _Scalar, _Options >::trans [protected] |
Referenced by se3::SE3Tpl< _Scalar, _Options >::act_impl(), se3::SE3Tpl< _Scalar, _Options >::actInv_impl(), se3::SE3Tpl< _Scalar, _Options >::disp_impl(), se3::SE3Tpl< _Scalar, _Options >::inverse(), se3::SE3Tpl< _Scalar, _Options >::operator=(), se3::SE3Tpl< _Scalar, _Options >::setIdentity(), se3::SE3Tpl< _Scalar, _Options >::setRandom(), se3::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl(), se3::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl(), and se3::SE3Tpl< _Scalar, _Options >::translation_impl().