Class sym::Pose3#

template<typename ScalarType> class Pose3#

Autogenerated C++ implementation of 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. 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

If you need a type that has these properties in symbolic expressions, you should use :class:symforce.geo.unsupported.pose3_se3.Pose3_SE3. There is no runtime equivalent of :class:Pose3_SE3 <symforce.geo.unsupported.pose3_se3.Pose3_SE3>, see the docstring on that class for more information.

Public Types

using Scalar = ScalarType #

using Self = Pose3<Scalar>#

using DataVec = Eigen::Matrix<Scalar, 7, 1>#

using TangentVec = Eigen::Matrix<Scalar, 6, 1>#

using SelfJacobian = Eigen::Matrix<Scalar, 6, 6>#

using Vector3 = Eigen::Matrix<Scalar, 3, 1>#

Public Functions

inline explicit Pose3(const DataVec &data, const bool normalize = true)#

Construct from data vec

Parameters:: normalize – Project to the manifold on construction. This ensures numerical stability as this constructor is called after each codegen operation. Constructing from a normalized vector may be faster, e.g. with FromStorage.

inline Pose3()#

inline const DataVec &Data() const#

template<typename Derived> inline Pose3(const Rot3<Scalar> &rotation, const Eigen::MatrixBase<Derived> &position)#

inline Eigen::Transform<Scalar, 3, Eigen::TransformTraits::Isometry> ToTransform() const#

inline sym::Rot3<Scalar> Rotation() const#

const Eigen::Matrix<Scalar, 4, 1> RotationStorage() const#: Returns the rotational component of this pose.

const Vector3 Position() const#: Returns the positional component of this pose.

const Vector3 ComposeWithPoint(const Vector3 &right) const#: Left-multiply with a compatible quantity.

const Vector3 InverseCompose(const Vector3 &point) const#

Returns self.inverse() * point

This is more efficient than calling the generated inverse and compose methods separately, if doing this for one point.

const Eigen::Matrix<Scalar, 4, 4> ToHomogenousMatrix() const#: 4x4 matrix representing this pose transform.

inline void ToStorage(Scalar *const vec) const#

inline Self Inverse() const#

inline Self Compose(const Self &b) const#

inline Vector3 Compose(const Vector3 &point) const#

inline Self Between(const Self &b) const#

inline Self InverseWithJacobian(SelfJacobian *const res_D_a = nullptr) const#

inline Self ComposeWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const#

inline Self BetweenWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const#

template<typename Other> inline auto operator*(const Other &b) const -> decltype(Compose(b))#

inline TangentVec ToTangent(const Scalar epsilon = kDefaultEpsilon<Scalar>) const#

inline Self Retract(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>) const#

inline TangentVec LocalCoordinates(const Self &b, const Scalar epsilon = kDefaultEpsilon<Scalar>) const#

inline Self Interpolate(const Self b, const Scalar alpha, const Scalar epsilon = kDefaultEpsilon<Scalar>) const#

inline bool IsApprox(const Self &b, const Scalar tol) const#

template<typename ToScalar> inline Pose3<ToScalar> Cast() const#

inline bool operator==(const Pose3 &rhs) const#

Public Static Functions

template<typename Generator> static inline Pose3 Random(Generator &gen)#

static inline constexpr int32_t StorageDim()#

static inline Pose3 FromStorage(const Scalar *const vec)#

static inline Self Identity()#

static inline constexpr int32_t TangentDim()#

static inline Self FromTangent(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>)#