Template Struct SE2TangentBase

• Defined in File SE2Tangent_base.h

Inheritance Relationships

Base Type

• public manif::TangentBase< _Derived > (Template Struct TangentBase)

Struct Documentation

template<typename _Derived>
struct SE2TangentBase : public manif::TangentBase<_Derived>

The base class of the SE2 tangent.

Note

See Appendix C.

Public Functions

Scalar *data()

Access the underlying data by pointer.

const Scalar *data() const

Access the underlying data by const pointer.

DataType &coeffs()

Access the underlying data by reference.

const DataType &coeffs() const

Access the underlying data by const reference.

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(SE2TangentBase) public LieGroup exp (OptJacobianRef J_m_t={}) const

Hat operator of SE2.

Get the SE2 element.

Note

See Eq. (153).

Note

This is the exp() map with the argument in vector form.

Note

See Eqs. (156,158) & Eq. (163).

Parameters:

-optional- – [out] J_m_t Jacobian of the SE2 element wrt this.

Returns:

An element of the Lie algebra se2 (skew-symmetric matrix).

Returns:

The SE2 element.

MANIF_DEPRECATED LieGroup retract (OptJacobianRef J_m_t={}) const

This function is deprecated. Please considere using exp instead.

Jacobian rjac() const

Get the right Jacobian of SE2.

Note

See Eq. (163).

Jacobian rjacinv() const

Get the inverse right Jacobian of SE2.

Jacobian ljac() const

Get the left Jacobian of SE2.

Note

See Eq. (164).

Jacobian ljacinv() const

Get the inverse left Jacobian of SE2.

Jacobian smallAdj() const

Returns:

Scalar x() const

Get the x component of the translational part.

Scalar y() const

Get the y component of the translational part.

Scalar angle() const

Get the rotational part.

inline _Derived &derived() & noexcept

inline const _Derived &derived() const & noexcept