TooN::SE3 Class Reference

List of all members.

Public Member Functions

 SE3 ()
template<class A>
 SE3 (const SO3 &R, const FixedVector< 3, A > &T)
SO3get_rotation ()
const SO3get_rotation () const
Vector< 3 > & get_translation ()
const Vector< 3 > & get_translation () const
Vector< 6 > ln () const
SE3 inverse () const
SE3 operator * (const SE3 &rhs) const
SE3left_multiply_by (const SE3 &left)
template<class Accessor>
void adjoint (FixedVector< 6, Accessor > &vect) const
template<class Accessor>
void trinvadjoint (FixedVector< 6, Accessor > &vect) const
template<class Accessor>
void adjoint (FixedMatrix< 6, 6, Accessor > &M) const
template<class Accessor>
void trinvadjoint (FixedMatrix< 6, 6, Accessor > &M) const
template<class A1, class A2, class A3>
Vector< 2 > project_transformed_point (const FixedVector< 3, A1 > &in_frame, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const
template<class A>
Vector< 3 > transform (const FixedVector< 3, A > &x) const
template<class A1, class A2, class A3>
Vector< 3 > transform (const FixedVector< 3, A1 > &x, FixedMatrix< 3, 3, A2 > &J_x, FixedMatrix< 3, 6, A3 > &J_pose) const
template<class A>
Vector< 3 > transform_uvq (const FixedVector< 3, A > &uvq) const
template<class A1, class A2, class A3>
Vector< 2 > transform_and_project (const FixedVector< 3, A1 > &x, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const
template<class A1, class A2, class A3>
Vector< 2 > transform_and_project_uvq (const FixedVector< 3, A1 > &uvq, FixedMatrix< 2, 3, A2 > &J_uvq, FixedMatrix< 2, 6, A3 > &J_pose) const
template<class A>
 SE3 (const SO3 &R, const FixedVector< 3, A > &T)
SO3get_rotation ()
const SO3get_rotation () const
Vector< 3 > & get_translation ()
const Vector< 3 > & get_translation () const
Vector< 6 > ln () const
SE3 operator * (const SE3 &rhs) const
template<class A1, class A2, class A3>
Vector< 2 > project_transformed_point (const FixedVector< 3, A1 > &in_frame, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const
template<class A>
Vector< 3 > transform (const FixedVector< 3, A > &x) const
template<class A1, class A2, class A3>
Vector< 3 > transform (const FixedVector< 3, A1 > &x, FixedMatrix< 3, 3, A2 > &J_x, FixedMatrix< 3, 6, A3 > &J_pose) const
template<class A>
Vector< 3 > transform_uvq (const FixedVector< 3, A > &uvq) const
template<class A1, class A2, class A3>
Vector< 2 > transform_and_project (const FixedVector< 3, A1 > &x, FixedMatrix< 2, 3, A2 > &J_x, FixedMatrix< 2, 6, A3 > &J_pose) const
template<class A1, class A2, class A3>
Vector< 2 > transform_and_project_uvq (const FixedVector< 3, A1 > &uvq, FixedMatrix< 2, 3, A2 > &J_uvq, FixedMatrix< 2, 6, A3 > &J_pose) const

Static Public Member Functions

static SE3 exp (const Vector< 6 > &vect)
static Vector< 6 > ln (const SE3 &se3)
static Vector< 4 > generator_field (int i, Vector< 4 > pos)

Friends

std::istream & operator>> (std::istream &is, SE3 &rhs)
std::istream & operator>> (std::istream &is, SE3 &rhs)


Detailed Description

Definition at line 29 of file se3.h.


The documentation for this class was generated from the following files:
Generated on Fri Feb 22 18:26:57 2008 for QVision by  doxygen 1.5.3