Traits for SE(2), rigid-body transformations in R^2 space.
See indidual members for documentation, or [1] for a general overview.
Definition at line 162 of file SE.h.
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static type | exp (const tangent_vector &x) |
| Exponential map in SE(2), takes [x,y,phi] and returns a CPose2D. More...
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static tangent_vector | log (const type &P) |
| Logarithm map in SE(2), takes a CPose2D and returns [X,Y, phi]. More...
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static manifold_vector | asManifoldVector (const type &pose) |
| Returns a vector with all manifold matrix elements in column-major order. More...
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static type | fromManifoldVector (const manifold_vector &v) |
| The inverse operation of asManifoldVector() More...
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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. More...
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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. More...
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static tang2mat_jacob | jacob_dDexpe_de (const type &D) |
| Jacobian d (D * e^eps) / d eps , with eps=increment in Lie Algebra. More...
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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: More...
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