template<typename _Derived>
SE3TangentBase struct
The base class of the SE3 tangent.
Base classes
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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
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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.