SE3mat

SE(3) rigid body transformation represented by a rotation matrix and translation vector. More...

Public Member Functions
	SE3mat ()
	Default constructor.
	SE3mat (const Eigen::Matrix3< g_type > &R_, const Eigen::Vector3< g_type > &t_)
	Constructs from a rotation matrix and translation vector.
SE3mat	inverse () const
	Computes the inverse of this rigid transform.
Eigen::Vector3< g_type >	operator* (const Eigen::Vector3< g_type > &v) const
	Transforms a 3D point: R*v + t.
SE3mat &	operator*= (const SE3mat &T2)
	In-place composition with another SE3mat transform.
void	Retract (const Eigen::Vector3< g_type > dr, const Eigen::Vector3< g_type > &dt)
	Applies a retraction update: t += R*dt, R *= ExpSO3(dr).

Static Public Member Functions
static Eigen::Matrix3< g_type >	ExpSO3 (const Eigen::Vector3< g_type > r)
	Computes the exponential map from so(3) to SO(3) (Rodrigues formula).
static Eigen::Vector3< g_type >	LogSO3 (const Eigen::Matrix3< g_type > R)
	Computes the logarithmic map from SO(3) to so(3).

Protected Attributes
Eigen::Matrix3< g_type >	R
	The 3x3 rotation matrix.
Eigen::Vector3< g_type >	t
	The 3D translation vector.

Detailed Description

SE(3) rigid body transformation represented by a rotation matrix and translation vector.

Definition at line 8 of file se3mat.h.

Constructor & Destructor Documentation

SE3mat() [1/2]

SE3mat::SE3mat ( )

inline

Default constructor.

Identity rotation, zero translation.

Definition at line 12 of file se3mat.h.

References R, and t.

Referenced by inverse(), and operator*=().

SE3mat() [2/2]

SE3mat::SE3mat ( const Eigen::Matrix3< g_type > & R_, const Eigen::Vector3< g_type > & t_ )

inline

Constructs from a rotation matrix and translation vector.

Parameters

[in]	R_	The 3x3 rotation matrix.
[in]	t_	The 3D translation vector.

Definition at line 21 of file se3mat.h.

References R, and t.

Member Function Documentation

ExpSO3()

Eigen::Matrix3< g_type > SE3mat::ExpSO3 ( const Eigen::Vector3< g_type > r )

inlinestatic

Computes the exponential map from so(3) to SO(3) (Rodrigues formula).

Parameters

[in]

r

The rotation vector (axis * angle).

Returns

The 3x3 rotation matrix.

Definition at line 64 of file se3mat.h.

References cos(), and sin().

Referenced by Retract().

LogSO3()

Eigen::Vector3< g_type > SE3mat::LogSO3 ( const Eigen::Matrix3< g_type > R )

inlinestatic

Computes the logarithmic map from SO(3) to so(3).

Parameters

[in]

R

The 3x3 rotation matrix.

Returns

The rotation vector (axis * angle).

Definition at line 82 of file se3mat.h.

References R, and sin().

operator*()

Eigen::Vector3< g_type > SE3mat::operator* ( const Eigen::Vector3< g_type > & v ) const

inline

Transforms a 3D point: R*v + t.

Parameters

[in]

v

The point to transform.

Definition at line 39 of file se3mat.h.

References R, and t.

Retract()

void SE3mat::Retract ( const Eigen::Vector3< g_type > dr, const Eigen::Vector3< g_type > & dt )

inline

Applies a retraction update: t += R*dt, R *= ExpSO3(dr).

Parameters

[in]	dr	The rotation update vector.
[in]	dt	The translation update vector.

Definition at line 30 of file se3mat.h.

References ExpSO3(), R, and t.

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The documentation for this class was generated from the following file:

• GraphOptimization/Headers/se3mat.h