template<typename _Derived>

manif::SE2Base struct

Base classes

template<class _Derived>

struct LieGroupBase<_Derived>

Base class for Lie groups. Defines the minimum common API.

Public types

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

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

using Transformation = typename internal::traits<_Derived>::Transformation

using Isometry = Eigen::Transform<Scalar, 2, Eigen::Isometry>

Public functions

auto inverse(OptJacobianRef J_minv_m = {}) const -> LieGroup

Get the inverse of this.

auto log(OptJacobianRef J_t_m = {}) const -> Tangent

Get the SE2 corresponding Lie algebra element in vector form.

auto lift(OptJacobianRef J_t_m = {}) const -> MANIF_DEPRECATED Tangent

This function is deprecated. Please considere using log instead.

template<typename _DerivedOther>

auto compose(const LieGroupBase<_DerivedOther>& m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const -> LieGroup

Composition of this and another SE2 element.

template<typename _EigenDerived>

auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 2, 3>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 2, 2>>> J_vout_v = {}) const -> Eigen::Matrix<Scalar, 2, 1>

Rigid motion action on a 2D point.

auto adj() const -> Jacobian

Get the adjoint matrix of SE2 at this.

auto transform() const -> Transformation

Get the transformation matrix (2D isometry).

auto isometry() const -> Isometry

auto rotation() const -> Rotation

Get the rotational part of this as a rotation matrix.

auto translation() const -> Translation

Get the translational part of this as a vector.

auto real() const -> Scalar

Get the real part of the underlying complex number representing the rotational part.

auto imag() const -> Scalar

Get the imaginary part of the underlying complex number representing the rotational part.

auto angle() const -> Scalar

Get the angle (rad.) of the rotational part.

auto x() const -> Scalar

Get the x component of the translational part.

auto y() const -> Scalar

Get the y component of the translational part.

void normalize()

Normalize the underlying complex number.

template<typename _EigenDerived>

auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 2, 3>>> J_vout_m, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 2, 2>>> J_vout_v) const -> Eigen::Matrix<typename SE2Base<_Derived>::Scalar, 2, 1>

auto coeffs() -> DataType&

Access the underlying data by const reference.

auto coeffs() const -> const DataType&

Access the underlying data by const reference.

Protected functions

auto derived() & -> _Derived& noexcept

auto derived() const & -> const _Derived& noexcept

Function documentation