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29 template <
unsigned int n>
41 constexpr
static size_t DOFs = 6;
44 constexpr
static size_t MANIFOLD_DIM = 3 * 4;
165 constexpr
static size_t DOFs = 3;
171 constexpr
static size_t MANIFOLD_DIM = 3;
CMatrixFixed< double, 6, 12 > CMatrixDouble6_12
static type fromManifoldVector(const manifold_vector &v)
The inverse operation of asManifoldVector()
static matrix_MxM jacob_dAB_dA(const type &A, const type &B)
Jacobian of the pose composition A*B for SE(2) with respect to A.
CMatrixFixed< double, 12, 6 > CMatrixDouble12_6
static manifold_vector asManifoldVector(const type &pose)
Returns a vector with all manifold matrix elements in column-major order.
static manifold_vector asManifoldVector(const type &pose)
Returns a vector with all manifold matrix elements in column-major order.
CMatrixFixed< double, 6, 6 > CMatrixDouble66
static matrix_MxM jacob_dAB_dA(const type &A, const type &B)
Jacobian of the pose composition A*B for SE(3) 3x4 (sub)matrices, with respect to A.
static mat2tang_jacob jacob_dlogv_dv(const type &P)
Jacobian for the pseudo-logarithm log() See 10.3.11 in .
static matrix_MxM jacob_dAB_dB(const type &A, const type &B)
Jacobian of the pose composition A*B for SE(3) 3x4 (sub)matrices, with respect to B.
static tang2mat_jacob jacob_dDexpe_de(const type &D)
Jacobian d (D * e^eps) / d eps , with eps=increment in Lie Algebra.
static type exp(const tangent_vector &x)
Retraction to SE(3), a pseudo-exponential map and its Jacobian.
static type exp(const tangent_vector &x)
Exponential map in SE(2), takes [x,y,phi] and returns a CPose2D.
A compile-time fixed-size numeric matrix container.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
static tangent_vector log(const type &P)
SE(3) pseudo-logarithm map .
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
Traits for SE(n), rigid-body transformations in R^n space.
static tang2mat_jacob jacob_dDexpe_de(const CPose3D &D)
Jacobian d (D * e^eps) / d eps , with eps=increment in Lie Algebra.
static tang2mat_jacob jacob_dexpeD_de(const CPose3D &D)
Jacobian d (e^eps * D) / d eps , with eps=increment in Lie Algebra.
static matrix_MxM jacob_dAB_dB(const type &A, const type &B)
Jacobian of the pose composition A*B for SE(2) with respect to B.
static tangent_vector log(const type &P)
Logarithm map in SE(2), takes a CPose2D and returns [X,Y, phi].
static tang2mat_jacob jacob_dexpe_de(const tangent_vector &x)
Jacobian for the pseudo-exponential exp().
static void jacob_dDinvP1invP2_de1e2(const type &Dinv, const type &P1, const type &P2, mrpt::optional_ref< matrix_TxT > df_de1=std::nullopt, mrpt::optional_ref< matrix_TxT > df_de2=std::nullopt)
Return one or both of the following 6x6 Jacobians, useful in graph-slam problems:
static type fromManifoldVector(const manifold_vector &v)
The inverse operation of asManifoldVector()
static void jacob_dDinvP1invP2_de1e2(const type &Dinv, const type &P1, const type &P2, mrpt::optional_ref< matrix_TxT > df_de1=std::nullopt, mrpt::optional_ref< matrix_TxT > df_de2=std::nullopt)
Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:
static tang2mat_jacob jacob_dAexpeD_de(const CPose3D &A, const CPose3D &D)
Jacobian d (A * e^eps * D) / d eps , with eps=increment in Lie Algebra.
CMatrixFixed< double, 3, 3 > CMatrixDouble33
std::optional< std::reference_wrapper< T > > optional_ref
Shorter name for std::optional<std::reference_wrapper<T>>
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