template<typename _Derived>
manif::SE_2_3Base struct

The base class of the SE_2_3 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 LinearVelocity = typename internal::traits<_Derived>::LinearVelocity
using Transformation = Eigen::Matrix<Scalar, 5, 5>
using Isometry = Eigen::Matrix<Scalar, 5, 5>
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 SE_2_3 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 SE_2_3 element.
template<typename _EigenDerived> auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 9>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v = {}) const -> Eigen::Matrix<Scalar, 3, 1>: Get the action of the underlying SE(3) element on a 3d point.
auto adj() const -> Jacobian: Get the adjoint matrix of SE_2_3 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.
auto linearVelocity() const -> LinearVelocity: Get the linear velocity part in vector form.
auto vx() const -> Scalar: Get the x component of the linear velocity part.
auto vy() const -> Scalar: Get the y component of linear velocity part.
auto vz() const -> Scalar: Get the z component of linear velocity part.
void normalize(): Normalize the underlying quaternion.
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, 9>>> J_vout_m, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v) const -> Eigen::Matrix<typename SE_2_3Base<_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

Typedef documentation

template<typename _Derived>
using manif::SE_2_3Base<_Derived>::Isometry = Eigen::Matrix<Scalar, 5, 5>

Double direct spatial isometry

Function documentation

template<typename _Derived>
Tangent manif::SE_2_3Base<_Derived>::log(OptJacobianRef J_t_m = {}) const

Get the SE_2_3 corresponding Lie algebra element in vector form.

Returns	The SE_2_3 tangent of this.

template<typename _Derived> template<typename _DerivedOther>
LieGroup manif::SE_2_3Base<_Derived>::compose(const LieGroupBase<_DerivedOther>& m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const

Composition of this and another SE_2_3 element.

Parameters
m in	Another SE_2_3 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::SE_2_3Base<_Derived>::act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 9>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>>> J_vout_v = {}) const

Get the action of the underlying SE(3) element on a 3d point.

Parameters
v in	A 3D point.
J_vout_m
J_vout_v

template<typename _Derived>
Transformation manif::SE_2_3Base<_Derived>::transform() const

Get the isometry object (double direct isometry).

template<typename _Derived>
Isometry manif::SE_2_3Base<_Derived>::isometry() const