Class sym::Pose3¶
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template<typename ScalarType>
class Pose3¶ Autogenerated C++ implementation of <class ‘symforce.geo.pose3.Pose3’>.
Group of three-dimensional rigid body transformations - SO(3) x R3.
The storage is a quaternion (x, y, z, w) for rotation followed by position (x, y, z).
The tangent space is 3 elements for rotation followed by 3 elements for translation in the non-rotated frame.
For Lie group enthusiasts: This class is on the PRODUCT manifold, if you really really want SE(3) you should use Pose3_SE3. On this class, the group operations (e.g. compose and between) operate as you’d expect for a Pose or SE(3), but the manifold operations (e.g. retract and local_coordinates) operate on the product manifold SO(3) x R3. This means that:
retract(a, vec) != compose(a, from_tangent(vec))
local_coordinates(a, b) != to_tangent(between(a, b))
There is no hat operator, because from_tangent/to_tangent is not the matrix exp/log
Public Types
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using Scalar = ScalarType¶
Public Functions
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inline Pose3()¶
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template<typename Derived>
inline Pose3(const Rot3<Scalar> &rotation, const Eigen::MatrixBase<Derived> &position)¶
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inline Self InverseWithJacobian(SelfJacobian *const res_D_a = nullptr) const¶
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inline Self ComposeWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const¶
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inline Self BetweenWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const¶
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inline TangentVec ToTangent(const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶
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inline Self Retract(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶
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inline TangentVec LocalCoordinates(const Self &b, const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶
Public Static Functions
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static inline constexpr int32_t StorageDim()¶
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static inline constexpr int32_t TangentDim()¶
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static inline Self FromTangent(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>)¶