se3::Symmetric3Tpl< _Scalar, _Options > Class Template Reference

#include <spatial/symmetric3.hpp>

List of all members.

Classes

struct  AlphaSkewSquare
struct  SkewSquare

Public Types

enum  { Options = _Options }
typedef _Scalar Scalar
typedef Eigen::Matrix< Scalar,
3, 1, Options > 
Vector3
typedef Eigen::Matrix< Scalar,
6, 1, Options > 
Vector6
typedef Eigen::Matrix< Scalar,
3, 3, Options > 
Matrix3
typedef Eigen::Matrix< Scalar,
2, 2, Options > 
Matrix2
typedef Eigen::Matrix< Scalar,
3, 2, Options > 
Matrix32

Public Member Functions

 Symmetric3Tpl ()
template<typename Sc , int N, int Opt>
 Symmetric3Tpl (const Eigen::Matrix< Sc, N, N, Opt > &I)
 Symmetric3Tpl (const Eigen::MatrixBase< Matrix3 > &I)
 Symmetric3Tpl (const Vector6 &I)
 Symmetric3Tpl (const double &a0, const double &a1, const double &a2, const double &a3, const double &a4, const double &a5)
bool operator== (const Symmetric3Tpl &S2) const
void setIdentity ()
void setZero ()
void fill (Scalar value)
Symmetric3Tpl operator- (const SkewSquare &v) const
Symmetric3Tploperator-= (const SkewSquare &v)
Symmetric3Tpl operator- (const AlphaSkewSquare &v) const
Symmetric3Tploperator-= (const AlphaSkewSquare &v)
const Vector6data () const
Vector6data ()
Matrix3 matrix () const
 operator Matrix3 () const
Scalar vtiv (const Vector3 &v) const
Symmetric3Tpl operator+ (const Symmetric3Tpl &s2) const
Symmetric3Tploperator+= (const Symmetric3Tpl &s2)
Vector3 operator* (const Vector3 &v) const
const Scalaroperator() (const int &i, const int &j) const
Symmetric3Tpl operator- (const Matrix3 &S) const
Symmetric3Tpl operator+ (const Matrix3 &S) const
Matrix32 decomposeltI () const
 Computes L for a symmetric matrix A.
template<typename D >
Symmetric3Tpl rotate (const Eigen::MatrixBase< D > &R) const

Static Public Member Functions

static Symmetric3Tpl Zero ()
static Symmetric3Tpl Random ()
static Symmetric3Tpl Identity ()
static Symmetric3Tpl RandomPositive ()

Friends

AlphaSkewSquare operator* (const double &m, const SkewSquare &sk)

template<typename _Scalar, int _Options>
class se3::Symmetric3Tpl< _Scalar, _Options >


Member Typedef Documentation

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar,2,2,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix2
template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar,3,3,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix3
template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar,3,2,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix32
template<typename _Scalar, int _Options>
typedef _Scalar se3::Symmetric3Tpl< _Scalar, _Options >::Scalar
template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar,3,1,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Vector3
template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar,6,1,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Vector6

Member Enumeration Documentation

template<typename _Scalar, int _Options>
anonymous enum
Enumerator:
Options 

Constructor & Destructor Documentation

template<typename _Scalar, int _Options>
template<typename Sc , int N, int Opt>
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const Eigen::Matrix< Sc, N, N, Opt > &  I) [inline, explicit]
template<typename _Scalar, int _Options>
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const Eigen::MatrixBase< Matrix3 > &  I) [inline, explicit]
template<typename _Scalar, int _Options>
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const Vector6 I) [inline, explicit]
template<typename _Scalar, int _Options>
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const double &  a0,
const double &  a1,
const double &  a2,
const double &  a3,
const double &  a4,
const double &  a5 
) [inline]

Member Function Documentation

template<typename _Scalar, int _Options>
const Vector6& se3::Symmetric3Tpl< _Scalar, _Options >::data ( ) const [inline]
template<typename _Scalar, int _Options>
Vector6& se3::Symmetric3Tpl< _Scalar, _Options >::data ( ) [inline]
template<typename _Scalar, int _Options>
Matrix32 se3::Symmetric3Tpl< _Scalar, _Options >::decomposeltI ( ) const [inline]

Computes L for a symmetric matrix A.

Referenced by se3::Symmetric3Tpl< double, 0 >::rotate().

template<typename _Scalar, int _Options>
void se3::Symmetric3Tpl< _Scalar, _Options >::fill ( Scalar  value) [inline]

Referenced by se3::operator*().

template<typename _Scalar, int _Options>
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Identity ( ) [inline, static]
template<typename _Scalar, int _Options>
Matrix3 se3::Symmetric3Tpl< _Scalar, _Options >::matrix ( ) const [inline]
template<typename _Scalar, int _Options>
se3::Symmetric3Tpl< _Scalar, _Options >::operator Matrix3 ( ) const [inline]
template<typename _Scalar, int _Options>
const Scalar& se3::Symmetric3Tpl< _Scalar, _Options >::operator() ( const int &  i,
const int &  j 
) const [inline]
template<typename _Scalar, int _Options>
Vector3 se3::Symmetric3Tpl< _Scalar, _Options >::operator* ( const Vector3 v) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator+ ( const Symmetric3Tpl< _Scalar, _Options > &  s2) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator+ ( const Matrix3 S) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator+= ( const Symmetric3Tpl< _Scalar, _Options > &  s2) [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- ( const SkewSquare v) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- ( const AlphaSkewSquare v) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- ( const Matrix3 S) const [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator-= ( const SkewSquare v) [inline]
template<typename _Scalar, int _Options>
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator-= ( const AlphaSkewSquare v) [inline]
template<typename _Scalar, int _Options>
bool se3::Symmetric3Tpl< _Scalar, _Options >::operator== ( const Symmetric3Tpl< _Scalar, _Options > &  S2) const [inline]
template<typename _Scalar, int _Options>
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Random ( ) [inline, static]
template<typename _Scalar, int _Options>
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::RandomPositive ( ) [inline, static]
template<typename _Scalar, int _Options>
template<typename D >
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::rotate ( const Eigen::MatrixBase< D > &  R) const [inline]
template<typename _Scalar, int _Options>
void se3::Symmetric3Tpl< _Scalar, _Options >::setIdentity ( ) [inline]
template<typename _Scalar, int _Options>
void se3::Symmetric3Tpl< _Scalar, _Options >::setZero ( ) [inline]
template<typename _Scalar, int _Options>
Scalar se3::Symmetric3Tpl< _Scalar, _Options >::vtiv ( const Vector3 v) const [inline]
template<typename _Scalar, int _Options>
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Zero ( ) [inline, static]

Friends And Related Function Documentation

template<typename _Scalar, int _Options>
AlphaSkewSquare operator* ( const double &  m,
const SkewSquare sk 
) [friend]