Specialization of SE for 3D poses.
Definition at line 46 of file SE_traits.h.
#include <mrpt/poses/SE_traits.h>
Public Types | |
enum | { VECTOR_SIZE = 6 } |
typedef CArrayDouble< VECTOR_SIZE > | array_t |
typedef CMatrixFixedNumeric < double, VECTOR_SIZE, VECTOR_SIZE > | matrix_VxV_t |
typedef CPose3D | pose_t |
Static Public Member Functions | |
static void | exp (const array_t &x, CPose3D &P) |
Exponential map in SE(3) | |
static void | ln (const CPose3D &P, array_t &x) |
Logarithm map in SE(3) | |
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. | |
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 |
typedef CArrayDouble<VECTOR_SIZE> mrpt::poses::SE_traits< 3 >::array_t |
Definition at line 49 of file SE_traits.h.
typedef CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE> mrpt::poses::SE_traits< 3 >::matrix_VxV_t |
Definition at line 50 of file SE_traits.h.
typedef CPose3D mrpt::poses::SE_traits< 3 >::pose_t |
Definition at line 51 of file SE_traits.h.
anonymous enum |
Definition at line 48 of file SE_traits.h.
static void mrpt::poses::SE_traits< 3 >::exp | ( | const array_t & | x, |
CPose3D & | P | ||
) | [inline, static] |
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.
static void mrpt::poses::SE_traits< 3 >::ln | ( | const CPose3D & | P, |
array_t & | x | ||
) | [inline, static] |
Logarithm map in SE(3)
Definition at line 57 of file SE_traits.h.
References mrpt::poses::CPose3D::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.
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