template<typename _Derived>
manif::SE3Base struct

The base class of the SE3 group.

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, 3, Eigen::Isometry>
using QuaternionDataType = Eigen::Quaternion<Scalar>

Public functions

auto inverse(OptJacobianRef J_minv_m = {}) const -> LieGroup
Get the inverse.
auto log(OptJacobianRef J_t_m = {}) const -> Tangent
Get the SE3 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 SE3 element.
template<typename _EigenDerived>
auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 6>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v = {}) const -> Eigen::Matrix<Scalar, 3, 1>
Rigid motion action on a 3D point.
auto adj() const -> Jacobian
Get the adjoint matrix of SE3 at this.
auto transform() const -> Transformation
auto isometry() const -> Isometry
auto rotation() const -> Rotation
Get the rotational part of this as a rotation matrix.
auto quat() const -> QuaternionDataType
Get the rotational part of this as a quaternion.
auto translation() const -> Translation
Get the translational part in vector form.
auto x() const -> Scalar
Get the x component of the translational part.
auto y() const -> Scalar
Get the y component of translational part.
auto z() const -> Scalar
Get the z component of translational part.
void normalize()
Normalize the underlying quaternion.
void quat(const QuaternionDataType& quaternion)
Set the rotational as a quaternion.
template<typename _EigenDerived>
void quat(const Eigen::MatrixBase<_EigenDerived>& quaternion)
Set the rotational as a quaternion.
void quat(const SO3<Scalar>& so3)
Set the rotational as a so3 object.
void translation(const Translation& translation)
Set the translation of the SE3 object.
auto asSO3() const -> Eigen::Map<const SO3<Scalar>>
auto asSO3() -> Eigen::Map<SO3<Scalar>>
template<typename _EigenDerived>
auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 6>>> J_vout_m, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v) const -> Eigen::Matrix<typename SE3Base<_Derived>::Scalar, 3, 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

template<typename _Derived>
LieGroup manif::SE3Base<_Derived>::inverse(OptJacobianRef J_minv_m = {}) const

Get the inverse.

template<typename _Derived>
Tangent manif::SE3Base<_Derived>::log(OptJacobianRef J_t_m = {}) const

Get the SE3 corresponding Lie algebra element in vector form.

Returns The SE3 tangent of this.

template<typename _Derived> template<typename _DerivedOther>
LieGroup manif::SE3Base<_Derived>::compose(const LieGroupBase<_DerivedOther>& m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const

Composition of this and another SE3 element.

Parameters
m in Another SE3 element.
J_mc_ma
J_mc_mb
Returns The composition of 'this . m'.

template<typename _Derived> template<typename _EigenDerived>
Eigen::Matrix<Scalar, 3, 1> manif::SE3Base<_Derived>::act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 6>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v = {}) const

Rigid motion action on a 3D point.

Parameters
v A 3D point.
J_vout_m
J_vout_v
Returns The transformed 3D point.

template<typename _Derived>
Jacobian manif::SE3Base<_Derived>::adj() const

Get the adjoint matrix of SE3 at this.

template<typename _Derived>
Transformation manif::SE3Base<_Derived>::transform() const

Get the transformation matrix (3D isometry).

template<typename _Derived>
Isometry manif::SE3Base<_Derived>::isometry() const

Get the isometry object (Eigen 3D isometry).

template<typename _Derived>
void manif::SE3Base<_Derived>::quat(const QuaternionDataType& quaternion)

Set the rotational as a quaternion.

Parameters
quaternion a unitary quaternion

template<typename _Derived> template<typename _EigenDerived>
void manif::SE3Base<_Derived>::quat(const Eigen::MatrixBase<_EigenDerived>& quaternion)

Set the rotational as a quaternion.

Parameters
quaternion an Eigen::Vector representing a unitary quaternion

template<typename _Derived>
void manif::SE3Base<_Derived>::quat(const SO3<Scalar>& so3)

Set the rotational as a so3 object.

Parameters
so3 a manif::SO3 object

template<typename _Derived>
void manif::SE3Base<_Derived>::translation(const Translation& translation)

Set the translation of the SE3 object.

Parameters
translation representing the translation