mrpt::poses::SE_traits< 3 > Struct Template Reference

Detailed Description

template<>
struct mrpt::poses::SE_traits< 3 >

Specialization of SE for 3D poses.

See also

SE_traits

Definition at line 30 of file SE_traits.h.

#include <mrpt/poses/SE_traits.h>

Public Types
enum	{ VECTOR_SIZE = 6 }
typedef mrpt::math::CArrayDouble< VECTOR_SIZE >	array_t
typedef mrpt::math::CMatrixFixedNumeric< double, VECTOR_SIZE, VECTOR_SIZE >	matrix_VxV_t
typedef CPose3D	pose_t
typedef mrpt::math::TPose3D	lightweight_pose_t
typedef mrpt::math::TPoint3D	point_t

Static Public Member Functions
static void	exp (const array_t &x, CPose3D &P)
	Exponential map in SE(3), with XYZ different from the first three values of "x". More...
static void	pseudo_exp (const array_t &x, CPose3D &P)
	Pseudo-Exponential map in SE(3), with XYZ copied from the first three values of "x". More...
static void	ln (const CPose3D &P, array_t &x)
	Logarithm map in SE(3) More...
static void	pseudo_ln (const CPose3D &P, array_t &x)
	A pseudo-Logarithm map in SE(3), where the output = [X,Y,Z, Ln(ROT)], that is, the normal SO(3) logarithm is used for the rotation components, but the translation is left unmodified. More...
static void	jacobian_dP1DP2inv_depsilon (const CPose3D &P1DP2inv, matrix_VxV_t *df_de1, matrix_VxV_t *df_de2)
	Return one or both of the following 6x6 Jacobians, useful in graph-slam problems: With and being increments in the linearized manifold for P1 and P2. More...

Member Typedef Documentation

array_t

typedef mrpt::math::CArrayDouble<VECTOR_SIZE> mrpt::poses::SE_traits< 3 >::array_t

Definition at line 33 of file SE_traits.h.

lightweight_pose_t

typedef mrpt::math::TPose3D mrpt::poses::SE_traits< 3 >::lightweight_pose_t

Definition at line 36 of file SE_traits.h.

matrix_VxV_t

typedef mrpt::math::CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE> mrpt::poses::SE_traits< 3 >::matrix_VxV_t

Definition at line 34 of file SE_traits.h.

point_t

typedef mrpt::math::TPoint3D mrpt::poses::SE_traits< 3 >::point_t

Definition at line 37 of file SE_traits.h.

pose_t

typedef CPose3D mrpt::poses::SE_traits< 3 >::pose_t

Definition at line 35 of file SE_traits.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
VECTOR_SIZE

Definition at line 32 of file SE_traits.h.

Member Function Documentation

exp()

static void mrpt::poses::SE_traits< 3 >::exp ( const array_t &  x, CPose3D &  P  )

inlinestatic

Exponential map in SE(3), with XYZ different from the first three values of "x".

See also

pseudo_exp

Definition at line 40 of file SE_traits.h.

References mrpt::poses::CPose3D::exp().

jacobian_dP1DP2inv_depsilon()

static void mrpt::poses::SE_traits< 3 >::jacobian_dP1DP2inv_depsilon ( const CPose3D &  P1DP2inv, matrix_VxV_t *  df_de1, matrix_VxV_t *  df_de2  )

static

Return one or both of the following 6x6 Jacobians, useful in graph-slam problems:

With and being increments in the linearized manifold for P1 and P2.

ln()

static void mrpt::poses::SE_traits< 3 >::ln ( const CPose3D &  P, array_t &  x  )

inlinestatic

Logarithm map in SE(3)

Definition at line 46 of file SE_traits.h.

References mrpt::poses::CPose3D::ln().

pseudo_exp()

static void mrpt::poses::SE_traits< 3 >::pseudo_exp ( const array_t &  x, CPose3D &  P  )

inlinestatic

Pseudo-Exponential map in SE(3), with XYZ copied from the first three values of "x".

See also

exp

Definition at line 43 of file SE_traits.h.

References mrpt::poses::CPose3D::exp().

pseudo_ln()

static void mrpt::poses::SE_traits< 3 >::pseudo_ln ( const CPose3D &  P, array_t &  x  )

static

A pseudo-Logarithm map in SE(3), where the output = [X,Y,Z, Ln(ROT)], that is, the normal SO(3) logarithm is used for the rotation components, but the translation is left unmodified.