Public Types
using	MatrixType = Eigen::Matrix4d

Static Public Member Functions
static Eigen::Matrix< double, 6, 6 >	Ad (const MatrixType &T)

static se3v::MatrixType	Ad (const MatrixType &T, const se3v::MatrixType &S)

static Eigen::Matrix< double, 6, 6 >	ad (const se3v::MatrixType &S)

static se3v::MatrixType	ad (const se3v::MatrixType &S1, const se3v::MatrixType &S2)

static Eigen::Matrix< double, 6, 6 >	adTranspose (const se3v::MatrixType &S)

static se3v::MatrixType	adTranspose (const se3v::MatrixType &S1, const se3v::MatrixType &S2)

template<typename Container , typename = std::enable_if_t<std::is_same_v<typename Container::value_type, MatrixType>>>
static std::optional< MatrixType >	Average (const Container &matrices, double eps, int max_iter=-1)

static MatrixType	Exp (const se3v::MatrixType &S, double angle=1.)

static MatrixType	Exp (so3v::MatrixType w, Eigen::Vector3d v, double angle=1.)

static Eigen::Vector3d	GetPosition (const MatrixType &T)

static SO3::MatrixType	GetRotation (const MatrixType &T)

static se3::MatrixType	Hat (const se3v::MatrixType &v)

static MatrixType	Identity ()

static Eigen::Matrix< double, 6, 6 >	InvAd (const MatrixType &T)

static se3v::MatrixType	InvAd (const MatrixType &T, const se3v::MatrixType &S)

static MatrixType	Inverse (const MatrixType &T)

static se3v::MatrixType	Log (const MatrixType &T)

static Eigen::Vector3d	Multiply (const MatrixType &T, const Eigen::Vector3d &p)

static MatrixType	T (const Eigen::Vector3d &p)

static MatrixType	T (const SO3::MatrixType &R, const Eigen::Vector3d &p=Eigen::Vector3d::Zero())

static se3v::MatrixType	Vec (const se3::MatrixType &s)

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

/external/rby1-sdk/include/rby1-sdk/math/se3.h

Public Types

Static Public Member Functions