template<typename _Derived>
manif::SE3TangentBase struct

The base class of the SE3 tangent.

Base classes

template<class _Derived>
struct TangentBase<_Derived>
Base class for Lie groups' tangents. Defines the minimum common API.

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 static functions

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

Public functions

auto hat() const -> LieAlg
Hat operator of SE3.
auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup
Get the SE3 element.
auto retract(OptJacobianRef J_m_t = {}) const -> MANIF_DEPRECATED LieGroup
This function is deprecated. Please considere using exp instead.
auto rjac() const -> Jacobian
Get the right Jacobian of SE3.
auto ljac() const -> Jacobian
Get the left Jacobian of SE3.
auto rjacinv() const -> Jacobian
Get the inverse right Jacobian of SE3.
auto ljacinv() const -> Jacobian
Get the inverse left Jacobian of SE3.
auto lin() -> LinBlock
Get the linear part.
auto lin() const -> const ConstLinBlock
auto ang() -> AngBlock
Get the angular part.
auto ang() const -> const ConstAngBlock
auto asSO3() const -> const Eigen::Map<const SO3Tangent<Scalar>>
auto asSO3() -> Eigen::Map<SO3Tangent<Scalar>>
auto data() -> Scalar*
Access the underlying data by pointer.
auto data() const -> const Scalar*
Access the underlying data by const pointer.
auto coeffs() -> DataType&
Access the underlying data by 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>
LieAlg manif::SE3TangentBase<_Derived>::hat() const

Hat operator of SE3.

Returns An element of the Lie algebra se3.

template<typename _Derived>
LieGroup manif::SE3TangentBase<_Derived>::exp(OptJacobianRef J_m_t = {}) const

Get the SE3 element.

Returns The SE3 element.

template<typename _Derived>
Jacobian manif::SE3TangentBase<_Derived>::rjac() const

Get the right Jacobian of SE3.

template<typename _Derived>
Jacobian manif::SE3TangentBase<_Derived>::ljac() const

Get the left Jacobian of SE3.

template<typename _Derived>
Jacobian manif::SE3TangentBase<_Derived>::rjacinv() const

Get the inverse right Jacobian of SE3.

template<typename _Derived>
Jacobian manif::SE3TangentBase<_Derived>::ljacinv() const

Get the inverse left Jacobian of SE3.