Public Member Functions
	SO3 (const Mat3 &R=Mat3::Identity())

	SO3 (const Mat31 &w)

	SO3 (const SO3 &R)

template<typename OtherDerived >
	SO3 (const Eigen::MatrixBase< OtherDerived > &rhs)

SO3 &	operator= (const SO3 &rhs)

SO3	operator* (const SO3 &rhs) const

SO3	mul (const SO3 &rhs) const

void	update_lhs (const Mat31 &dw)

void	update_rhs (const Mat31 &dw)

void	exp (const Mat3 &w_hat)

Mat3	ln (double *o=nullptr) const

Mat31	ln_vee () const

SO3	inv (void) const

Mat3	adj () const

Mat3	R () const

Mat3 &	ref2R ()

double	distance (const SO3 &rhs) const

void	print (void) const

void	print_lie (void) const

std::string	toString () const
	Generates string representation of the SO3 object. More...

Protected Attributes
Mat3	R_

Constructor & Destructor Documentation

◆ SO3() [1/4]

SO3::SO3 ( const Mat3 & R = Mat3::Identity() )

Constructor from a Matrix transformation

◆ SO3() [2/4]

SO3::SO3 ( const Mat31 & w )

Constructor, requires the Lie algebra w so3 representing the rotation around the identity, by default generates R = exp(0^) = I

◆ SO3() [3/4]

SO3::SO3 ( const SO3 & R )

Constructor from an SO3 transformation

◆ SO3() [4/4]

template<typename OtherDerived >

SO3::SO3 ( const Eigen::MatrixBase< OtherDerived > & rhs )

This constructor allows to construct from Eigen expressions Eigen suggestion: TopicCustomizingEigen.html

Member Function Documentation

◆ adj()

Mat3 SO3::adj ( ) const

Adjoint: Adj_w = R

◆ exp()

void SO3::exp ( const Mat3 & w_hat )

Exponential mapping of a skew symetric matrix in so3. The Rodrigues formula provides an exact solution to the Taylor expansion of exp(A) = I + A + c2*A^2 + ... exp(A) = I + c1*w^ + c2*(w^)^2, where o = norm(w), c1 =sin(o)/o and c2 = (1 - cos(o))/o^2

◆ inv()

SO3 SO3::inv ( void ) const

Inverse: R^-1 = R'

◆ ln()

Mat3 SO3::ln ( double * o = nullptr ) const

Logarithmic mapping from SO3 to a skew-symetric matrix in so3 o = |acos(0.5*(tr(R)-1))| w^ = o / (2sin(o))*(R-R^T)

Special cases for 0 and +-pi

◆ ln_vee()

Mat31 SO3::ln_vee ( ) const

Logarithm of R and then the vee operator to get the coordinates w of the Lie Algebra

◆ mul()

SO3 SO3::mul ( const SO3 & rhs ) const

multiplication function

◆ operator*()

SO3 SO3::operator* ( const SO3 & rhs ) const

This method allows you to Multiply SO3 expressions

◆ operator=()

SO3 & SO3::operator= ( const SO3 & rhs )

This method allows you to assign Eigen expressions to SO3

◆ R()

Mat3 SO3::R ( ) const

R method returns the matrix 3x3 of the SO3 rotation

◆ ref2R()

Mat3 & SO3::ref2R ( )

ref to R method returns the reference to modify R

◆ toString()

std::string SO3::toString ( ) const

Generates string representation of the SO3 object.

Returns: std::string object to print

◆ update_lhs()

void SO3::update_lhs ( const Mat31 & dw )

This is our default way to update transformations Updates the current transformation with the incremental dw so3 R'=exp(dw^)*R

◆ update_rhs()

void SO3::update_rhs ( const Mat31 & dw )

Updates the current transformation with the incremental dw so3 R'=R*exp(dw^)

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

src/geometry/mrob/SO3.hpp
src/geometry/SO3.cpp

Public Member Functions

Protected Attributes