mrpt::poses::Lie::SO< 2 > Struct Template Reference

Detailed Description

template<>
struct mrpt::poses::Lie::SO< 2 >

Traits for SO(2), rotations in R^2 space.

Definition at line 88 of file SO.h.

#include <mrpt/poses/Lie/SO.h>

Public Types
using	tangent_vector = mrpt::math::CVectorFixedDouble< DOFs >
using	type = double
using	tang2mat_jacob = mrpt::math::CMatrixFixed< double, 1, 1 >
	Type for Jacobian: tangent space to SO(n) matrix. More...
using	mat2tang_jacob = mrpt::math::CMatrixFixed< double, 1, 1 >
	Type for Jacobian: SO(n) matrix to tangent space. More...

Static Public Member Functions
static type	exp (const tangent_vector &x)
	SO(2) exponential map . More...
static tangent_vector	log (const type &R)
	SO(2) logarithm map . More...
static tang2mat_jacob	jacob_dexpe_de (const tangent_vector &x)
	Jacobian for exp(), the identity matrix [ 1 ] More...
static mat2tang_jacob	jacob_dlogv_dv (const type &R)
	Jacobian for log(), the identity matrix [ 1 ] More...

Static Public Attributes
static constexpr size_t	DOFs = 1

Member Typedef Documentation

mat2tang_jacob

using mrpt::poses::Lie::SO< 2 >::mat2tang_jacob = mrpt::math::CMatrixFixed<double, 1, 1>

Type for Jacobian: SO(n) matrix to tangent space.

Definition at line 97 of file SO.h.

tang2mat_jacob

using mrpt::poses::Lie::SO< 2 >::tang2mat_jacob = mrpt::math::CMatrixFixed<double, 1, 1>

Type for Jacobian: tangent space to SO(n) matrix.

Definition at line 95 of file SO.h.

tangent_vector

using mrpt::poses::Lie::SO< 2 >::tangent_vector = mrpt::math::CVectorFixedDouble<DOFs>

Definition at line 91 of file SO.h.

type

using mrpt::poses::Lie::SO< 2 >::type = double

Definition at line 92 of file SO.h.

Member Function Documentation

exp()

static type mrpt::poses::Lie::SO< 2 >::exp ( const tangent_vector &  x )

static

SO(2) exponential map .

• Input: 1-len vector in Lie algebra so(3)
• Output: angle for the rotation (radians)

jacob_dexpe_de()

static tang2mat_jacob mrpt::poses::Lie::SO< 2 >::jacob_dexpe_de ( const tangent_vector &  x )

static

Jacobian for exp(), the identity matrix [ 1 ]

jacob_dlogv_dv()

static mat2tang_jacob mrpt::poses::Lie::SO< 2 >::jacob_dlogv_dv ( const type &  R )

static

Jacobian for log(), the identity matrix [ 1 ]

log()

static tangent_vector mrpt::poses::Lie::SO< 2 >::log ( const type &  R )

static

SO(2) logarithm map .

• Input: rotation angle [radians]
• Output: 1-len vector in Lie algebra so(2) (with the same value)

Member Data Documentation

DOFs

constexpr size_t mrpt::poses::Lie::SO< 2 >::DOFs = 1

static

Definition at line 90 of file SO.h.