The rigid transform aMb can be seen in two ways: More...
#include <spatial/se3.hpp>
Public Member Functions | |
Derived_t & | derived () |
const Derived_t & | derived () const |
ConstAngular_t & | rotation () const |
ConstLinear_t & | translation () const |
Angular_t & | rotation () |
Linear_t & | translation () |
void | rotation (const Angular_t &R) |
void | translation (const Linear_t &R) |
Matrix4 | toHomogeneousMatrix () const |
operator Matrix4 () const | |
Matrix6 | toActionMatrix () const |
operator Matrix6 () const | |
void | disp (std::ostream &os) const |
Derived_t | operator* (const Derived_t &m2) const |
template<typename D > | |
internal::ActionReturn< D >::Type | act (const D &d) const |
ay = aXb.act(by) | |
template<typename D > | |
internal::ActionReturn< D >::Type | actInv (const D &d) const |
by = aXb.actInv(ay) | |
Derived_t | act (const Derived_t &m2) const |
Derived_t | actInv (const Derived_t &m2) const |
bool | operator== (const Derived_t &other) const |
bool | isApprox (const Derived_t &other, const Scalar_t &prec=Eigen::NumTraits< Scalar_t >::dummy_precision()) const |
Protected Types | |
typedef Derived | Derived_t |
Protected Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (Derived_t) | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const SE3Base< Derived > &X) |
The rigid transform aMb can be seen in two ways:
The rigid displacement is stored as a rotation matrix and translation vector by: aMb (x) = aRb*x + aAB where aAB is the vector from origin A to origin B expressed in coordinates A.
typedef Derived se3::SE3Base< Derived >::Derived_t [protected] |
internal::ActionReturn<D>::Type se3::SE3Base< Derived >::act | ( | const D & | d | ) | const [inline] |
ay = aXb.act(by)
Derived_t se3::SE3Base< Derived >::act | ( | const Derived_t & | m2 | ) | const [inline] |
internal::ActionReturn<D>::Type se3::SE3Base< Derived >::actInv | ( | const D & | d | ) | const [inline] |
by = aXb.actInv(ay)
Referenced by se3::getFrameJacobian().
Derived_t se3::SE3Base< Derived >::actInv | ( | const Derived_t & | m2 | ) | const [inline] |
Derived_t& se3::SE3Base< Derived >::derived | ( | ) | [inline] |
Referenced by se3::SE3Base< SE3Tpl< _Scalar, _Options > >::act(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::actInv(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::isApprox(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::operator*(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::operator==(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::rotation(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::toActionMatrix(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::toHomogeneousMatrix(), and se3::SE3Base< SE3Tpl< _Scalar, _Options > >::translation().
const Derived_t& se3::SE3Base< Derived >::derived | ( | ) | const [inline] |
void se3::SE3Base< Derived >::disp | ( | std::ostream & | os | ) | const [inline] |
bool se3::SE3Base< Derived >::isApprox | ( | const Derived_t & | other, |
const Scalar_t & | prec = Eigen::NumTraits<Scalar_t>::dummy_precision() |
||
) | const [inline] |
se3::SE3Base< Derived >::operator Matrix4 | ( | ) | const [inline] |
se3::SE3Base< Derived >::operator Matrix6 | ( | ) | const [inline] |
Derived_t se3::SE3Base< Derived >::operator* | ( | const Derived_t & | m2 | ) | const [inline] |
bool se3::SE3Base< Derived >::operator== | ( | const Derived_t & | other | ) | const [inline] |
ConstAngular_t& se3::SE3Base< Derived >::rotation | ( | ) | const [inline] |
Referenced by se3::SE3Tpl< double, 0 >::__equal__(), se3::CATBackwardStep::algo(), LuaTableNode::getDefault< se3::SE3 >(), se3::internal::ForceSetSe3Action< Mat, MatRet, 1 >::run(), se3::internal::MotionSetSe3Action< Mat, MatRet, 1 >::run(), se3::ForceSetTpl< _Scalar, _Options >::se3Action(), se3::ConstraintPrismaticUnaligned::se3Action(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3Action(), se3::ConstraintRevoluteUnaligned::se3Action(), se3::ConstraintRevolute< axis >::se3Action(), se3::ConstraintPrismatic< axis >::se3Action(), se3::ConstraintRotationalSubspace::se3Action(), se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::se3Action(), se3::ConstraintTranslationSubspace::se3Action(), se3::ConstraintPlanar::se3Action(), se3::ForceTpl< double, 0 >::se3Action_impl(), se3::MotionTpl< Scalar, Options >::se3Action_impl(), se3::InertiaTpl< double, 0 >::se3Action_impl(), se3::ForceSetTpl< _Scalar, _Options >::se3ActionInverse(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3ActionInverse(), se3::ForceTpl< double, 0 >::se3ActionInverse_impl(), se3::MotionTpl< Scalar, Options >::se3ActionInverse_impl(), se3::InertiaTpl< double, 0 >::se3ActionInverse_impl(), and se3::toFclTransform3f().
Angular_t& se3::SE3Base< Derived >::rotation | ( | ) | [inline] |
void se3::SE3Base< Derived >::rotation | ( | const Angular_t & | R | ) | [inline] |
se3::SE3Base< Derived >::SPATIAL_TYPEDEF_TEMPLATE | ( | Derived_t | ) | [protected] |
Matrix6 se3::SE3Base< Derived >::toActionMatrix | ( | ) | const [inline] |
Matrix4 se3::SE3Base< Derived >::toHomogeneousMatrix | ( | ) | const [inline] |
ConstLinear_t& se3::SE3Base< Derived >::translation | ( | ) | const [inline] |
Referenced by se3::SE3Tpl< double, 0 >::__equal__(), se3::CATBackwardStep::algo(), se3::getFrameJacobian(), LuaTableNode::getDefault< se3::SE3 >(), se3::internal::ForceSetSe3Action< Mat, MatRet, 1 >::run(), se3::internal::MotionSetSe3Action< Mat, MatRet, 1 >::run(), se3::ForceSetTpl< _Scalar, _Options >::se3Action(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3Action(), se3::ConstraintRevoluteUnaligned::se3Action(), se3::ConstraintRevolute< axis >::se3Action(), se3::ConstraintRotationalSubspace::se3Action(), se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::se3Action(), se3::ConstraintPlanar::se3Action(), se3::ForceTpl< double, 0 >::se3Action_impl(), se3::MotionTpl< Scalar, Options >::se3Action_impl(), se3::InertiaTpl< double, 0 >::se3Action_impl(), se3::ForceSetTpl< _Scalar, _Options >::se3ActionInverse(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3ActionInverse(), se3::ForceTpl< double, 0 >::se3ActionInverse_impl(), se3::MotionTpl< Scalar, Options >::se3ActionInverse_impl(), se3::InertiaTpl< double, 0 >::se3ActionInverse_impl(), and se3::toFclTransform3f().
Linear_t& se3::SE3Base< Derived >::translation | ( | ) | [inline] |
void se3::SE3Base< Derived >::translation | ( | const Linear_t & | R | ) | [inline] |
std::ostream& operator<< | ( | std::ostream & | os, |
const SE3Base< Derived > & | X | ||
) | [friend] |