MRPT
2.0.0
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Traits for SO(3), rotations in R^3 space.
#include <mrpt/poses/Lie/SO.h>
Public Types | |
using | tangent_vector = mrpt::math::CVectorFixedDouble< DOFs > |
using | type = mrpt::math::CMatrixDouble33 |
using | tang2mat_jacob = mrpt::math::CMatrixDouble93 |
Type for Jacobian: tangent space -> SO(n) matrix. More... | |
using | mat2tang_jacob = mrpt::math::CMatrixDouble39 |
Type for Jacobian: SO(n) matrix -> tangent space. More... | |
Static Public Member Functions | |
static type | exp (const tangent_vector &x) |
SO(3) exponential map . More... | |
static tangent_vector | log (const type &R) |
SO(3) logarithm map . More... | |
static type | fromYPR (const double yaw, const double pitch, const double roll) |
Returns the 3x3 SO(3) rotation matrix from yaw, pitch, roll angles. More... | |
static tangent_vector | vee_RmRt (const type &R) |
Returns vee(R-R'), which is an approximation to 2*vee(logmat(R)) for small rotations. More... | |
static tang2mat_jacob | jacob_dexpe_de (const tangent_vector &x) |
Jacobian for exp(). More... | |
static mat2tang_jacob | jacob_dlogv_dv (const type &R) |
Jacobian for log() See 10.3.2 in [1]. More... | |
Static Public Attributes | |
static constexpr size_t | DOFs = 3 |
using mrpt::poses::Lie::SO< 3 >::mat2tang_jacob = mrpt::math::CMatrixDouble39 |
using mrpt::poses::Lie::SO< 3 >::tang2mat_jacob = mrpt::math::CMatrixDouble93 |
using mrpt::poses::Lie::SO< 3 >::tangent_vector = mrpt::math::CVectorFixedDouble<DOFs> |
using mrpt::poses::Lie::SO< 3 >::type = mrpt::math::CMatrixDouble33 |
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Returns the 3x3 SO(3) rotation matrix from yaw, pitch, roll angles.
See CPose3D for the axis conventions and a picture.
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Returns vee(R-R'), which is an approximation to 2*vee(logmat(R)) for small rotations.
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