Template Struct SE3TangentBase¶

Defined in File SE3Tangent_base.h

Inheritance Relationships¶

Base Type¶

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

Struct Documentation¶

template<typename _Derived> struct SE3TangentBase : public manif::TangentBase<_Derived>¶

The base class of the SE3 tangent.

Note

See Appendix D of the paper.

Public Types

using LinBlock = typename DataType::template FixedSegmentReturnType<3>::Type¶

using AngBlock = typename DataType::template FixedSegmentReturnType<3>::Type¶

using ConstLinBlock = typename DataType::template ConstFixedSegmentReturnType<3>::Type¶

using ConstAngBlock = typename DataType::template ConstFixedSegmentReturnType<3>::Type¶

Public Functions

inline const Eigen::Map<const SO3Tangent<Scalar>> asSO3() const¶

inline Eigen::Map<SO3Tangent<Scalar>> asSO3()¶

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.

Public Static Functions

template<typename _EigenDerived> static void fillQ(Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>> Q, const Eigen::MatrixBase<_EigenDerived> &c)¶

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(SE3TangentBase) public LieGroup exp (OptJacobianRef J_m_t={}) const

Hat operator of SE3.

Get the SE3 element.

Note

See Eq. (169).

Note

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

Note

See Eq. (172) & Eqs. (179,180).

Parameters:: -optional- – [out] J_m_t Jacobian of the SE3 element wrt this.
Returns:: An element of the Lie algebra se3.
Returns:: The SE3 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 SE3.

Note

See note after Eqs. (179,180).

Note

Eq. 10.95

Note

barfoot14tro Eq. 102

Jacobian ljac() const¶: Get the left Jacobian of SE3.

Note

See Eqs. (179,180).

Jacobian rjacinv() const¶: Get the inverse right Jacobian of SE3.

Note

See note after Eqs. (179,180).

Note

barfoot14tro Eq. 102

Jacobian ljacinv() const¶: Get the inverse left Jacobian of SE3.

Note

See Eqs. (179,180).

Jacobian smallAdj() const¶

Returns:

LinBlock lin()¶: Get the linear part.

const ConstLinBlock lin() const¶

AngBlock ang()¶: Get the angular part.

const ConstAngBlock ang() const¶

inline _Derived &derived() & noexcept¶

inline const _Derived &derived() const & noexcept¶