template<typename _Derived>
SGal3TangentBase struct
The base class of the SGal3 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
- static void fillE(Eigen::Ref<Eigen::Matrix<Scalar, 3, 3>> E, const Eigen::Map<const SO3Tangent<Scalar>>& so3)
Public functions
- auto hat() const -> LieAlg
- Hat operator of SGal3.
- auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup
- Get the SGal3 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 SGal3.
- auto ljac() const -> Jacobian
- Get the left Jacobian of SGal3.
- auto smallAdj() const -> Jacobian
- Get the small adjoint matrix ad() of SGal3 that maps isomorphic tangent vectors of SGal3.
- auto lin() -> LinBlock
- Get the linear translation part.
- auto lin() const -> const ConstLinBlock
- auto ang() -> AngBlock
- Get the angular part.
- auto ang() const -> const ConstAngBlock
- auto lin2() -> LinBlock
- Get the linear velocity part.
- auto lin2() const -> const ConstLinBlock
- auto t() const -> Scalar
- 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.