MRPT
2.0.2
|
Traits for SO(2), rotations in R^2 space.
#include <mrpt/poses/Lie/SO.h>
Public Types | |
using | tangent_vector = mrpt::math::CVectorFixedDouble< DOFs > |
using | type = double |
using | tang2mat_jacob = mrpt::math::CMatrixFixed< double, 1, 1 > |
Type for Jacobian: tangent space to SO(n) matrix. More... | |
using | mat2tang_jacob = mrpt::math::CMatrixFixed< double, 1, 1 > |
Type for Jacobian: SO(n) matrix to tangent space. More... | |
Static Public Member Functions | |
static type | exp (const tangent_vector &x) |
SO(2) exponential map . More... | |
static tangent_vector | log (const type &R) |
SO(2) logarithm map . More... | |
static tang2mat_jacob | jacob_dexpe_de (const tangent_vector &x) |
Jacobian for exp(), the identity matrix [ 1 ] More... | |
static mat2tang_jacob | jacob_dlogv_dv (const type &R) |
Jacobian for log(), the identity matrix [ 1 ] More... | |
Static Public Attributes | |
static constexpr size_t | DOFs = 1 |
using mrpt::poses::Lie::SO< 2 >::mat2tang_jacob = mrpt::math::CMatrixFixed<double, 1, 1> |
using mrpt::poses::Lie::SO< 2 >::tang2mat_jacob = mrpt::math::CMatrixFixed<double, 1, 1> |
using mrpt::poses::Lie::SO< 2 >::tangent_vector = mrpt::math::CVectorFixedDouble<DOFs> |
using mrpt::poses::Lie::SO< 2 >::type = double |
|
static |
SO(2) exponential map .
|
static |
Jacobian for exp(), the identity matrix [ 1 ]
|
static |
Jacobian for log(), the identity matrix [ 1 ]
|
static |
SO(2) logarithm map .
|
static |
Page generated by Doxygen 1.8.14 for MRPT 2.0.2 Git: 9b4fd2465 Mon May 4 16:59:08 2020 +0200 at lun may 4 17:26:07 CEST 2020 |