Template Struct SE3

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar>
struct SE3 : public manif::SE3Base<SE3<_Scalar>>

Represent an element of SE3.

Public Types

using Translation = typename Base::Translation
using Quaternion = Eigen::Quaternion<Scalar>

Public Functions

SE3() = default
~SE3() = default
MANIF_COPY_CONSTRUCTOR (SE3) MANIF_MOVE_CONSTRUCTOR(SE3) template< typename _DerivedOther > SE3(const LieGroupBase< _DerivedOther > &o)
MANIF_GROUP_ASSIGN_OP (SE3) SE3(const Translation &t

Constructor given a translation and a unit quaternion.

Parameters:

  • t – [in] A translation vector.

  • q – [in] A unit quaternion.

Throws:

manif::invalid_argument – on un-normalized complex number.

SE3(const Translation &t, const Eigen::AngleAxis<Scalar> &angle_axis)

Constructor given a translation and an angle axis.

Parameters:

  • t – [in] A translation vector.

  • angle_axis – [in] An angle-axis.

SE3(const Translation &t, const SO3<Scalar> &SO3)

Constructor given a translation and SO3 element.

Parameters:

  • t – [in] A translation vector.

  • SO3 – An element of SO3.

SE3(const Scalar x, const Scalar y, const Scalar z, const Scalar roll, const Scalar pitch, const Scalar yaw)

Constructor given translation components and roll-pitch-yaw angles.

Parameters:

  • x – [in] The x component of the translation.

  • y – [in] The y component of the translation.

  • z – [in] The z component of the translation.

  • roll – [in] The roll angle.

  • pitch – [in] The pitch angle.

  • yaw – [in] The yaw angle.

SE3(const Eigen::Transform<_Scalar, 3, Eigen::Isometry> &h)

Constructor from a 3D Eigen::Isometry<Scalar>

Isometry is a typedef from Eigen::Transform, in which the linear part is assumed a rotation matrix. This is used to speed up certain methods of Transform, especially inverse().

Parameters:

h – [in] an isometry object from Eigen

DataType &coeffs()
const DataType &coeffs() const

Public Members

const Eigen::Quaternion<Scalar> &q

Protected Attributes

DataType data_