Functions
template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 3, 3 >	Q_helper (const MatrixBase< D1 > &v, const MatrixBase< D2 > &w)
	Q matrix of the left Jacobian of SE(3), with v the linear and w the angular parts of the tangent vector. More...

template<typename D >
Matrix< typename D::Scalar, 6, 6 >	jac_SE3_left (const MatrixBase< D > &tangent)
	Left Jacobian of SE(3), with tangent = [rho, theta]. More...

template<typename D >
Matrix< typename D::Scalar, 6, 6 >	jac_SE3_right (const MatrixBase< D > &tangent)
	Right Jacobian of SE(3), with tangent = [rho, theta]. More...

template<typename D >
Matrix< typename D::Scalar, 6, 6 >	jac_SE3_left_inv (const MatrixBase< D > &tangent)
	Inverse of the left Jacobian of SE(3), with tangent = [rho, theta]. More...

template<typename D >
Matrix< typename D::Scalar, 6, 6 >	jac_SE3_right_inv (const MatrixBase< D > &tangent)
	Inverse of the right Jacobian of SE(3), with tangent = [rho, theta]. More...

template<typename D1 , typename D2 >
void	identity (MatrixBase< D1 > &p, QuaternionBase< D2 > &q)

template<typename D1 , typename D2 >
void	identity (MatrixBase< D1 > &p, MatrixBase< D2 > &q)

template<typename D >
void	identity (MatrixBase< D > &d)

template<typename T = double>
Matrix< T, 7, 1 >	identity ()

void	identity (VectorComposite &v)

VectorComposite	identityComposite ()

template<typename D1 , typename D2 , typename D4 , typename D5 >
void	inverse (const MatrixBase< D1 > &p, const QuaternionBase< D2 > &q, MatrixBase< D4 > &ip, QuaternionBase< D5 > &iq)

template<typename D1 , typename D2 , typename D4 , typename D5 >
void	inverse (const MatrixBase< D1 > &p, const MatrixBase< D2 > &q, MatrixBase< D4 > &ip, MatrixBase< D5 > &iq)

template<typename D1 , typename D2 >
void	inverse (const MatrixBase< D1 > &d, MatrixBase< D2 > &id)

template<typename D >
Matrix< typename D::Scalar, 7, 1 >	inverse (const MatrixBase< D > &d)

void	inverse (const VectorComposite &v, VectorComposite &c)

VectorComposite	inverse (const VectorComposite &v)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	compose (const MatrixBase< D1 > &p1, const QuaternionBase< D2 > &q1, const MatrixBase< D4 > &p2, const QuaternionBase< D5 > &q2, MatrixBase< D7 > &pc, QuaternionBase< D8 > &qc)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	compose (const MatrixBase< D1 > &p1, const MatrixBase< D2 > &q1, const MatrixBase< D4 > &p2, const MatrixBase< D5 > &q2, MatrixBase< D7 > &pc, MatrixBase< D8 > &qc)

template<typename D1 , typename D2 , typename D3 >
void	compose (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &sum)

template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 7, 1 >	compose (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2)

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 >
void	compose (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &sum, MatrixBase< D4 > &J_sum_d1, MatrixBase< D5 > &J_sum_d2)

void	compose (const VectorComposite &x1, const VectorComposite &x2, VectorComposite &c)

VectorComposite	compose (const VectorComposite &x1, const VectorComposite &x2)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	between (const MatrixBase< D1 > &p1, const QuaternionBase< D2 > &q1, const MatrixBase< D4 > &p2, const QuaternionBase< D5 > &q2, MatrixBase< D7 > &p12, QuaternionBase< D8 > &q12)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	between (const MatrixBase< D1 > &p1, const MatrixBase< D2 > &q1, const MatrixBase< D4 > &p2, const MatrixBase< D5 > &q2, MatrixBase< D7 > &p12, MatrixBase< D8 > &q12)

template<typename D1 , typename D2 , typename D3 >
void	between (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &d12)

template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 7, 1 >	between (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2)

void	between (const VectorComposite &x1, const VectorComposite &x2, VectorComposite &x12)

VectorComposite	between (const VectorComposite &x1, const VectorComposite &x2)

template<typename D1 , typename D2 , typename D3 , typename D4 >
void	exp (const MatrixBase< D1 > &rho, const MatrixBase< D2 > &theta, MatrixBase< D3 > &p, QuaternionBase< D4 > &q)

template<typename D1 , typename D2 , typename D3 , typename D4 >
void	exp (const MatrixBase< D1 > &rho, const MatrixBase< D2 > &theta, MatrixBase< D3 > &p, MatrixBase< D4 > &q)

template<typename D1 , typename D2 >
void	exp (const MatrixBase< D1 > &tau, MatrixBase< D2 > &delta)

template<typename D >
Matrix< typename D::Scalar, 7, 1 >	exp (const MatrixBase< D > &tau)

template<typename D1 , typename D2 , typename D3 >
void	exp (const MatrixBase< D1 > &tau, MatrixBase< D2 > &delta, MatrixBase< D3 > &J_delta_tau)

void	exp (const VectorComposite &tau, VectorComposite &delta)

VectorComposite	exp (const VectorComposite &tau)

template<typename D1 , typename D2 , typename D3 , typename D4 >
void	log (const MatrixBase< D1 > &p, const QuaternionBase< D2 > &q, MatrixBase< D3 > &rho, MatrixBase< D4 > &theta)

template<typename D1 , typename D2 , typename D3 , typename D4 >
void	log (const MatrixBase< D1 > &p, const MatrixBase< D2 > &q, MatrixBase< D3 > &rho, MatrixBase< D4 > &theta)

template<typename D1 , typename D2 >
void	log (const MatrixBase< D1 > &delta, MatrixBase< D2 > &tau)

template<typename D >
Matrix< typename D::Scalar, 6, 1 >	log (const MatrixBase< D > &delta)

template<typename D1 , typename D2 , typename D3 >
void	log (const MatrixBase< D1 > &delta, MatrixBase< D2 > &tau, MatrixBase< D3 > &J_tau_delta)

void	log (const VectorComposite &delta, VectorComposite &tau)

VectorComposite	log (const VectorComposite &delta)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	plus (const MatrixBase< D1 > &p1, const QuaternionBase< D2 > &q1, const MatrixBase< D4 > &p2, const MatrixBase< D5 > &o2, MatrixBase< D7 > &plus_p, QuaternionBase< D8 > &plus_q)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	plus (const MatrixBase< D1 > &p1, const MatrixBase< D2 > &q1, const MatrixBase< D4 > &p2, const MatrixBase< D5 > &o2, MatrixBase< D7 > &plus_p, MatrixBase< D8 > &plus_q)

template<typename D1 , typename D2 , typename D3 >
void	plus (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &d_plus)

template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 7, 1 >	plus (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2)

void	plus (const VectorComposite &x, const VectorComposite &tau, VectorComposite &res)

VectorComposite	plus (const VectorComposite &x, const VectorComposite &tau)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	minus (const MatrixBase< D1 > &p1, const QuaternionBase< D2 > &q1, const MatrixBase< D4 > &p2, const QuaternionBase< D5 > &q2, MatrixBase< D7 > &pd, MatrixBase< D8 > &od)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D6 , typename D7 , typename D8 , typename D9 >
void	minus (const MatrixBase< D1 > &p1, const QuaternionBase< D2 > &q1, const MatrixBase< D4 > &p2, const QuaternionBase< D5 > &q2, MatrixBase< D6 > &pd, MatrixBase< D7 > &od, MatrixBase< D8 > &J_do_q1, MatrixBase< D9 > &J_do_q2)

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >
void	minus (const MatrixBase< D1 > &p1, const MatrixBase< D2 > &q1, const MatrixBase< D4 > &p2, const MatrixBase< D5 > &q2, MatrixBase< D7 > &pd, MatrixBase< D8 > &od)

template<typename D1 , typename D2 , typename D3 >
void	minus (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &err)

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 >
void	minus (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, MatrixBase< D3 > &dif, MatrixBase< D4 > &J_diff_d1, MatrixBase< D5 > &J_diff_d2)

template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 6, 1 >	minus (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2)

void	minus (const VectorComposite &x1, const VectorComposite &x2, VectorComposite &res)

VectorComposite	minus (const VectorComposite &x1, const VectorComposite &x2)

template<typename D1 , typename D2 , typename D3 >
void	interpolate (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, const typename D1::Scalar &t, MatrixBase< D3 > &ret)

template<typename D1 , typename D2 >
Matrix< typename D1::Scalar, 7, 1 >	interpolate (const MatrixBase< D1 > &d1, const MatrixBase< D2 > &d2, const typename D1::Scalar &t)

void	interpolate (const VectorComposite &x1, const VectorComposite &x2, const double &t, VectorComposite &res)

VectorComposite	interpolate (const VectorComposite &x1, const VectorComposite &x2, const double &t)

template<typename D1 , typename D2 >
void	toSE3 (const MatrixBase< D1 > &pose, MatrixBase< D2 > &SE3)

template<typename D >
Matrix< typename D::Scalar, 4, 4 >	toSE3 (const MatrixBase< D > &pose)

Function Documentation

◆ between() [1/6]

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 7, 1 > wolf::SE3::between	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2
	)

inline

◆ between() [2/6]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::between	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	d12
	)

inline

◆ between() [3/6]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::between	(	const MatrixBase< D1 > &	p1,
		const MatrixBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const MatrixBase< D5 > &	q2,
		MatrixBase< D7 > &	p12,
		MatrixBase< D8 > &	q12
	)

inline

◆ between() [4/6]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::between	(	const MatrixBase< D1 > &	p1,
		const QuaternionBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const QuaternionBase< D5 > &	q2,
		MatrixBase< D7 > &	p12,
		QuaternionBase< D8 > &	q12
	)

inline

◆ between() [5/6]

VectorComposite wolf::SE3::between	(	const VectorComposite &	x1,
		const VectorComposite &	x2
	)

inline

◆ between() [6/6]

void wolf::SE3::between	(	const VectorComposite &	x1,
		const VectorComposite &	x2,
		VectorComposite &	x12
	)

inline

◆ compose() [1/7]

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 7, 1 > wolf::SE3::compose	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2
	)

inline

◆ compose() [2/7]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::compose	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	sum
	)

inline

◆ compose() [3/7]

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 >

void wolf::SE3::compose	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	sum,
		MatrixBase< D4 > &	J_sum_d1,
		MatrixBase< D5 > &	J_sum_d2
	)

inline

◆ compose() [4/7]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::compose	(	const MatrixBase< D1 > &	p1,
		const MatrixBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const MatrixBase< D5 > &	q2,
		MatrixBase< D7 > &	pc,
		MatrixBase< D8 > &	qc
	)

inline

◆ compose() [5/7]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::compose	(	const MatrixBase< D1 > &	p1,
		const QuaternionBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const QuaternionBase< D5 > &	q2,
		MatrixBase< D7 > &	pc,
		QuaternionBase< D8 > &	qc
	)

inline

◆ compose() [6/7]

VectorComposite wolf::SE3::compose	(	const VectorComposite &	x1,
		const VectorComposite &	x2
	)

inline

◆ compose() [7/7]

void wolf::SE3::compose	(	const VectorComposite &	x1,
		const VectorComposite &	x2,
		VectorComposite &	c
	)

inline

◆ exp() [1/7]

template<typename D >

Matrix< typename D::Scalar, 7, 1 > wolf::SE3::exp ( const MatrixBase< D > & tau )

inline

◆ exp() [2/7]

template<typename D1 , typename D2 , typename D3 , typename D4 >

void wolf::SE3::exp	(	const MatrixBase< D1 > &	rho,
		const MatrixBase< D2 > &	theta,
		MatrixBase< D3 > &	p,
		MatrixBase< D4 > &	q
	)

inline

◆ exp() [3/7]

template<typename D1 , typename D2 , typename D3 , typename D4 >

void wolf::SE3::exp	(	const MatrixBase< D1 > &	rho,
		const MatrixBase< D2 > &	theta,
		MatrixBase< D3 > &	p,
		QuaternionBase< D4 > &	q
	)

inline

◆ exp() [4/7]

template<typename D1 , typename D2 >

void wolf::SE3::exp	(	const MatrixBase< D1 > &	tau,
		MatrixBase< D2 > &	delta
	)

inline

◆ exp() [5/7]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::exp	(	const MatrixBase< D1 > &	tau,
		MatrixBase< D2 > &	delta,
		MatrixBase< D3 > &	J_delta_tau
	)

inline

◆ exp() [6/7]

VectorComposite wolf::SE3::exp ( const VectorComposite & tau )

inline

◆ exp() [7/7]

void wolf::SE3::exp	(	const VectorComposite &	tau,
		VectorComposite &	delta
	)

inline

◆ identity() [1/5]

template<typename T = double>

Matrix< T, 7, 1 > wolf::SE3::identity ( )

inline

◆ identity() [2/5]

template<typename D >

void wolf::SE3::identity ( MatrixBase< D > & d )

inline

◆ identity() [3/5]

template<typename D1 , typename D2 >

void wolf::SE3::identity	(	MatrixBase< D1 > &	p,
		MatrixBase< D2 > &	q
	)

inline

◆ identity() [4/5]

template<typename D1 , typename D2 >

void wolf::SE3::identity	(	MatrixBase< D1 > &	p,
		QuaternionBase< D2 > &	q
	)

inline

◆ identity() [5/5]

void wolf::SE3::identity ( VectorComposite & v )

inline

◆ identityComposite()

VectorComposite wolf::SE3::identityComposite ( )

inline

◆ interpolate() [1/4]

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 7, 1 > wolf::SE3::interpolate	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		const typename D1::Scalar &	t
	)

inline

◆ interpolate() [2/4]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::interpolate	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		const typename D1::Scalar &	t,
		MatrixBase< D3 > &	ret
	)

inline

◆ interpolate() [3/4]

VectorComposite wolf::SE3::interpolate	(	const VectorComposite &	x1,
		const VectorComposite &	x2,
		const double &	t
	)

inline

◆ interpolate() [4/4]

void wolf::SE3::interpolate	(	const VectorComposite &	x1,
		const VectorComposite &	x2,
		const double &	t,
		VectorComposite &	res
	)

inline

◆ inverse() [1/6]

template<typename D >

Matrix< typename D::Scalar, 7, 1 > wolf::SE3::inverse ( const MatrixBase< D > & d )

inline

◆ inverse() [2/6]

template<typename D1 , typename D2 >

void wolf::SE3::inverse	(	const MatrixBase< D1 > &	d,
		MatrixBase< D2 > &	id
	)

inline

◆ inverse() [3/6]

template<typename D1 , typename D2 , typename D4 , typename D5 >

void wolf::SE3::inverse	(	const MatrixBase< D1 > &	p,
		const MatrixBase< D2 > &	q,
		MatrixBase< D4 > &	ip,
		MatrixBase< D5 > &	iq
	)

inline

◆ inverse() [4/6]

template<typename D1 , typename D2 , typename D4 , typename D5 >

void wolf::SE3::inverse	(	const MatrixBase< D1 > &	p,
		const QuaternionBase< D2 > &	q,
		MatrixBase< D4 > &	ip,
		QuaternionBase< D5 > &	iq
	)

inline

◆ inverse() [5/6]

VectorComposite wolf::SE3::inverse ( const VectorComposite & v )

inline

◆ inverse() [6/6]

void wolf::SE3::inverse	(	const VectorComposite &	v,
		VectorComposite &	c
	)

inline

◆ jac_SE3_left()

template<typename D >

Matrix< typename D::Scalar, 6, 6 > wolf::SE3::jac_SE3_left ( const MatrixBase< D > & tangent )

inline

Left Jacobian of SE(3), with tangent = [rho, theta].

◆ jac_SE3_left_inv()

template<typename D >

Matrix< typename D::Scalar, 6, 6 > wolf::SE3::jac_SE3_left_inv ( const MatrixBase< D > & tangent )

inline

Inverse of the left Jacobian of SE(3), with tangent = [rho, theta].

◆ jac_SE3_right()

template<typename D >

Matrix< typename D::Scalar, 6, 6 > wolf::SE3::jac_SE3_right ( const MatrixBase< D > & tangent )

inline

Right Jacobian of SE(3), with tangent = [rho, theta].

◆ jac_SE3_right_inv()

template<typename D >

Matrix< typename D::Scalar, 6, 6 > wolf::SE3::jac_SE3_right_inv ( const MatrixBase< D > & tangent )

inline

Inverse of the right Jacobian of SE(3), with tangent = [rho, theta].

◆ log() [1/7]

template<typename D >

Matrix< typename D::Scalar, 6, 1 > wolf::SE3::log ( const MatrixBase< D > & delta )

inline

◆ log() [2/7]

template<typename D1 , typename D2 >

void wolf::SE3::log	(	const MatrixBase< D1 > &	delta,
		MatrixBase< D2 > &	tau
	)

inline

◆ log() [3/7]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::log	(	const MatrixBase< D1 > &	delta,
		MatrixBase< D2 > &	tau,
		MatrixBase< D3 > &	J_tau_delta
	)

inline

◆ log() [4/7]

template<typename D1 , typename D2 , typename D3 , typename D4 >

void wolf::SE3::log	(	const MatrixBase< D1 > &	p,
		const MatrixBase< D2 > &	q,
		MatrixBase< D3 > &	rho,
		MatrixBase< D4 > &	theta
	)

inline

◆ log() [5/7]

template<typename D1 , typename D2 , typename D3 , typename D4 >

void wolf::SE3::log	(	const MatrixBase< D1 > &	p,
		const QuaternionBase< D2 > &	q,
		MatrixBase< D3 > &	rho,
		MatrixBase< D4 > &	theta
	)

inline

◆ log() [6/7]

VectorComposite wolf::SE3::log ( const VectorComposite & delta )

inline

◆ log() [7/7]

void wolf::SE3::log	(	const VectorComposite &	delta,
		VectorComposite &	tau
	)

inline

◆ minus() [1/8]

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 6, 1 > wolf::SE3::minus	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2
	)

inline

◆ minus() [2/8]

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 >

void wolf::SE3::minus	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	dif,
		MatrixBase< D4 > &	J_diff_d1,
		MatrixBase< D5 > &	J_diff_d2
	)

inline

◆ minus() [3/8]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::minus	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	err
	)

inline

◆ minus() [4/8]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::minus	(	const MatrixBase< D1 > &	p1,
		const MatrixBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const MatrixBase< D5 > &	q2,
		MatrixBase< D7 > &	pd,
		MatrixBase< D8 > &	od
	)

inline

◆ minus() [5/8]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D6 , typename D7 , typename D8 , typename D9 >

void wolf::SE3::minus	(	const MatrixBase< D1 > &	p1,
		const QuaternionBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const QuaternionBase< D5 > &	q2,
		MatrixBase< D6 > &	pd,
		MatrixBase< D7 > &	od,
		MatrixBase< D8 > &	J_do_q1,
		MatrixBase< D9 > &	J_do_q2
	)

inline

◆ minus() [6/8]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::minus	(	const MatrixBase< D1 > &	p1,
		const QuaternionBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const QuaternionBase< D5 > &	q2,
		MatrixBase< D7 > &	pd,
		MatrixBase< D8 > &	od
	)

inline

◆ minus() [7/8]

VectorComposite wolf::SE3::minus	(	const VectorComposite &	x1,
		const VectorComposite &	x2
	)

inline

◆ minus() [8/8]

void wolf::SE3::minus	(	const VectorComposite &	x1,
		const VectorComposite &	x2,
		VectorComposite &	res
	)

inline

◆ plus() [1/6]

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 7, 1 > wolf::SE3::plus	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2
	)

inline

◆ plus() [2/6]

template<typename D1 , typename D2 , typename D3 >

void wolf::SE3::plus	(	const MatrixBase< D1 > &	d1,
		const MatrixBase< D2 > &	d2,
		MatrixBase< D3 > &	d_plus
	)

inline

◆ plus() [3/6]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::plus	(	const MatrixBase< D1 > &	p1,
		const MatrixBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const MatrixBase< D5 > &	o2,
		MatrixBase< D7 > &	plus_p,
		MatrixBase< D8 > &	plus_q
	)

inline

◆ plus() [4/6]

template<typename D1 , typename D2 , typename D4 , typename D5 , typename D7 , typename D8 >

void wolf::SE3::plus	(	const MatrixBase< D1 > &	p1,
		const QuaternionBase< D2 > &	q1,
		const MatrixBase< D4 > &	p2,
		const MatrixBase< D5 > &	o2,
		MatrixBase< D7 > &	plus_p,
		QuaternionBase< D8 > &	plus_q
	)

inline

◆ plus() [5/6]

VectorComposite wolf::SE3::plus	(	const VectorComposite &	x,
		const VectorComposite &	tau
	)

inline

◆ plus() [6/6]

void wolf::SE3::plus	(	const VectorComposite &	x,
		const VectorComposite &	tau,
		VectorComposite &	res
	)

inline

◆ Q_helper()

template<typename D1 , typename D2 >

Matrix< typename D1::Scalar, 3, 3 > wolf::SE3::Q_helper	(	const MatrixBase< D1 > &	v,
		const MatrixBase< D2 > &	w
	)

inline

Q matrix of the left Jacobian of SE(3), with v the linear and w the angular parts of the tangent vector.

Barfoot, "State estimation for robotics", eq. 7.86: Q = 1/2 V + c2 (WV + VW + WVW) + c3 (WWV + VWW - 3 WVW) + c4 (WVWW + WWVW) with V = [v]x, W = [w]x, th = |w|, and c2 = (th - sin(th)) / th^3 c3 = (th^2 + 2 cos(th) - 2) / (2 th^4) c4 = (2 th - 3 sin(th) + th cos(th)) / (2 th^5) (Taylor series for small angles, where the closed forms are numerically unstable)

◆ toSE3() [1/2]

template<typename D >

Matrix< typename D::Scalar, 4, 4 > wolf::SE3::toSE3 ( const MatrixBase< D > & pose )

inline

◆ toSE3() [2/2]

template<typename D1 , typename D2 >

void wolf::SE3::toSE3	(	const MatrixBase< D1 > &	pose,
		MatrixBase< D2 > &	SE3
	)

inline

Functions

Function Documentation

◆ between() [1/6]

◆ between() [2/6]

◆ between() [3/6]

◆ between() [4/6]

◆ between() [5/6]

◆ between() [6/6]

◆ compose() [1/7]

◆ compose() [2/7]

◆ compose() [3/7]

◆ compose() [4/7]

◆ compose() [5/7]

◆ compose() [6/7]

◆ compose() [7/7]

◆ exp() [1/7]

◆ exp() [2/7]

◆ exp() [3/7]

◆ exp() [4/7]

◆ exp() [5/7]

◆ exp() [6/7]

◆ exp() [7/7]

◆ identity() [1/5]

◆ identity() [2/5]

◆ identity() [3/5]

◆ identity() [4/5]

◆ identity() [5/5]

◆ identityComposite()

◆ interpolate() [1/4]

◆ interpolate() [2/4]

◆ interpolate() [3/4]

◆ interpolate() [4/4]

◆ inverse() [1/6]

◆ inverse() [2/6]

◆ inverse() [3/6]

◆ inverse() [4/6]

◆ inverse() [5/6]

◆ inverse() [6/6]

◆ jac_SE3_left()

◆ jac_SE3_left_inv()

◆ jac_SE3_right()

◆ jac_SE3_right_inv()

◆ log() [1/7]

◆ log() [2/7]

◆ log() [3/7]

◆ log() [4/7]

◆ log() [5/7]

◆ log() [6/7]

◆ log() [7/7]

◆ minus() [1/8]

◆ minus() [2/8]

◆ minus() [3/8]

◆ minus() [4/8]

◆ minus() [5/8]

◆ minus() [6/8]

◆ minus() [7/8]

◆ minus() [8/8]

◆ plus() [1/6]

◆ plus() [2/6]

◆ plus() [3/6]

◆ plus() [4/6]

◆ plus() [5/6]

◆ plus() [6/6]

◆ Q_helper()

◆ toSE3() [1/2]

◆ toSE3() [2/2]