Template Struct SGal3Base¶

Defined in File SGal3_base.h

Inheritance Relationships¶

Base Type¶

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

Struct Documentation¶

template<typename _Derived> struct SGal3Base : public manif::LieGroupBase<_Derived>¶

The base class of the SGal3 group.

Note

See “All About the Galilean Group SGal(3)” J. Kelly. https://arxiv.org/abs/2312.07555

Public Types

using Rotation = typename internal::traits<_Derived>::Rotation¶

using Translation = typename internal::traits<_Derived>::Translation¶

using LinearVelocity = typename internal::traits<_Derived>::LinearVelocity¶

using Time = Scalar¶

using Transformation = Eigen::Matrix<Scalar, 5, 5>¶

using Isometry = Eigen::Matrix<Scalar, 5, 5>¶: Double direct spatial isometry

using QuaternionDataType = Eigen::Quaternion<Scalar>¶

Public Functions

inline Eigen::Map<const SO3<Scalar>> asSO3() const¶

inline Eigen::Map<SO3<Scalar>> asSO3()¶

template<typename _EigenDerived> Eigen::Matrix<typename SGal3Base<_Derived>::Scalar, 3, 1> act(const Eigen::MatrixBase<_EigenDerived> &p, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_pout_m, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_pout_p) const¶

DataType &coeffs()¶: Access the underlying data by const reference.

const DataType &coeffs() const¶: Access the underlying data by const reference.

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(SGal3Base) public Tangent log (OptJacobianRef J_t_m={}) const

Get the inverse.

Get the SGal3 corresponding Lie algebra element in vector form.

See also

SGal3Tangent.

Note

This is the log() map in vector form.

Parameters:

-optional- – [out] J_minv_m Jacobian of the inverse wrt this.
-optional- – [out] J_t_m Jacobian of the tangent wrt to this.

Returns:

The SGal3 tangent of this.

MANIF_DEPRECATED Tangent lift (OptJacobianRef J_t_m={}) const: This function is deprecated. Please considere using log instead.

template<typename _DerivedOther> LieGroup compose(const LieGroupBase<_DerivedOther> &m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const¶

Composition of this and another SGal3 element.

Parameters:

m – [in] Another SGal3 element.
-optional- – [out] J_mc_ma Jacobian of the composition wrt this.
-optional- – [out] J_mc_mb Jacobian of the composition wrt m.

Returns:

The composition of ‘this . m’.

template<typename _EigenDerived> Eigen::Matrix<Scalar, 3, 1> act(const Eigen::MatrixBase<_EigenDerived> &p, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 10>>> J_pout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_pout_p = {}) const¶

Get the action.

Parameters:

p – [in] A 3D point.
-optional- – [out] J_pout_m The Jacobian of the new object wrt this.
-optional- – [out] J_pout_p The Jacobian of the new object wrt input object.

Jacobian adj() const¶: Get the adjoint matrix of SGal3 at this.

Transformation transform() const¶: Get the isometry object (double direct isometry).

Note

T = | R v t| | 1 s| | 1|

Isometry isometry() const¶: Get the isometry object (double direct isometry).

Note

T = | R v t| | 1 s| | 1|

Rotation rotation() const¶: Get the rotational part of this as a rotation matrix.

QuaternionDataType quat() const¶: Get the rotational part of this as a quaternion.

Translation translation() const¶: Get the translational part in vector form.

Scalar x() const¶: Get the x component of the translational part.

Scalar y() const¶: Get the y component of translational part.

Scalar z() const¶: Get the z component of translational part.

LinearVelocity linearVelocity() const¶: Get the linear velocity part in vector form.

Scalar vx() const¶: Get the x component of the linear velocity part.

Scalar vy() const¶: Get the y component of linear velocity part.

Scalar vz() const¶: Get the z component of linear velocity part.

Scalar t() const¶: Get the time.

void normalize()¶: Normalize the underlying quaternion.

inline _Derived &derived() & noexcept¶

inline const _Derived &derived() const & noexcept¶