se3::SE3Tpl< _Scalar, _Options > Class Template Reference

#include <spatial/se3.hpp>

Inheritance diagram for se3::SE3Tpl< _Scalar, _Options >:
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Collaboration diagram for se3::SE3Tpl< _Scalar, _Options >:
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List of all members.

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>
SE3Tploperator= (const SE3Tpl< S2, O2 > &other)
SE3TplsetIdentity ()
SE3Tpl inverse () const
 aXb = bXa.inverse()
SE3TplsetRandom ()
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 > >

template<typename _Scalar, int _Options>
class se3::SE3Tpl< _Scalar, _Options >


Constructor & Destructor Documentation

template<typename _Scalar, int _Options>
template<typename M3 , typename v3 >
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const Eigen::MatrixBase< M3 > &  R,
const Eigen::MatrixBase< v3 > &  p 
) [inline]
template<typename _Scalar, int _Options>
template<typename M4 >
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const Eigen::MatrixBase< M4 > &  m) [inline]
template<typename _Scalar, int _Options>
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl ( int  ) [inline]
template<typename _Scalar, int _Options>
template<typename S2 , int O2>
se3::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const SE3Tpl< S2, O2 > &  clone) [inline]

Member Function Documentation

template<typename _Scalar, int _Options>
bool se3::SE3Tpl< _Scalar, _Options >::__equal__ ( const SE3Tpl< _Scalar, _Options > &  m2) const [inline]
template<typename _Scalar, int _Options>
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::__mult__ ( const SE3Tpl< _Scalar, _Options > &  m2) const [inline]
template<typename _Scalar, int _Options>
template<typename D >
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().

template<typename _Scalar, int _Options>
Vector3 se3::SE3Tpl< _Scalar, _Options >::act_impl ( const Vector3 p) const [inline]
template<typename _Scalar, int _Options>
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::act_impl ( const SE3Tpl< _Scalar, _Options > &  m2) const [inline]
template<typename _Scalar, int _Options>
template<typename D >
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().

template<typename _Scalar, int _Options>
Vector3 se3::SE3Tpl< _Scalar, _Options >::actInv_impl ( const Vector3 p) const [inline]
template<typename _Scalar, int _Options>
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::actInv_impl ( const SE3Tpl< _Scalar, _Options > &  m2) const [inline]
template<typename _Scalar, int _Options>
void se3::SE3Tpl< _Scalar, _Options >::disp_impl ( std::ostream &  os) const [inline]
template<typename _Scalar, int _Options>
SE3Tpl se3::SE3Tpl< _Scalar, _Options >::inverse ( ) const [inline]
template<typename _Scalar, int _Options>
bool se3::SE3Tpl< _Scalar, _Options >::isApprox_impl ( const SE3Tpl< _Scalar, _Options > &  m2) const [inline]
template<typename _Scalar, int _Options>
template<typename S2 , int O2>
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::operator= ( const SE3Tpl< S2, O2 > &  other) [inline]
template<typename _Scalar, int _Options>
static SE3Tpl se3::SE3Tpl< _Scalar, _Options >::Random ( ) [inline, static]
template<typename _Scalar, int _Options>
const Angular_t& se3::SE3Tpl< _Scalar, _Options >::rotation_impl ( ) const [inline]
template<typename _Scalar, int _Options>
Angular_t& se3::SE3Tpl< _Scalar, _Options >::rotation_impl ( ) [inline]
template<typename _Scalar, int _Options>
void se3::SE3Tpl< _Scalar, _Options >::rotation_impl ( const Angular_t &  R) [inline]
template<typename _Scalar, int _Options>
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::setIdentity ( ) [inline]
template<typename _Scalar, int _Options>
SE3Tpl& se3::SE3Tpl< _Scalar, _Options >::setRandom ( ) [inline]
template<typename _Scalar, int _Options>
se3::SE3Tpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE ( SE3Tpl< _Scalar, _Options >  )
template<typename _Scalar, int _Options>
Matrix6 se3::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl ( ) const [inline]
template<typename _Scalar, int _Options>
Matrix4 se3::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl ( ) const [inline]
template<typename _Scalar, int _Options>
const Linear_t& se3::SE3Tpl< _Scalar, _Options >::translation_impl ( ) const [inline]
template<typename _Scalar, int _Options>
Linear_t& se3::SE3Tpl< _Scalar, _Options >::translation_impl ( ) [inline]
template<typename _Scalar, int _Options>
void se3::SE3Tpl< _Scalar, _Options >::translation_impl ( const Linear_t &  p) [inline]

Friends And Related Function Documentation

template<typename _Scalar, int _Options>
friend class SE3Base< SE3Tpl< _Scalar, _Options > > [friend]

Member Data Documentation