Class sym::Rot3

template<typename ScalarType>
class Rot3

Autogenerated C++ implementation of symforce.geo.rot3.Rot3.

Group of three-dimensional orthogonal matrices with determinant +1, representing rotations in 3D space. Backed by a quaternion with (x, y, z, w) storage.

Public Types

using Scalar = ScalarType

using Self = Rot3<Scalar>

using DataVec = Eigen::Matrix<Scalar, 4, 1>

using TangentVec = Eigen::Matrix<Scalar, 3, 1>

using SelfJacobian = Eigen::Matrix<Scalar, 3, 3>

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

Public Functions

inline explicit Rot3(const DataVec &data)

inline Rot3()

inline const DataVec &Data() const

inline Eigen::Quaternion<Scalar> Quaternion() const

inline explicit Rot3(const Eigen::Quaternion<Scalar> &q)

inline Eigen::AngleAxis<Scalar> AngleAxis() const

inline explicit Rot3(const Eigen::AngleAxis<Scalar> &aa)

inline Rot3 ToPositiveReal() const

const Vector3 ComposeWithPoint(const Vector3 &right) const

const Eigen::Matrix<Scalar, 3, 3> ToRotationMatrix() const

const Vector3 ToYawPitchRoll() const

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 Rot3<ToScalar> Cast() const

inline bool operator==(const Rot3 &rhs) const

Public Static Functions

static inline Rot3 FromQuaternion(const Eigen::Quaternion<Scalar> &q)

static inline Rot3 FromAngleAxis(const Eigen::AngleAxis<Scalar> &aa)

static inline Rot3 FromAngleAxis(const Scalar angle, const Vector3 &axis)

static inline Rot3 FromRotationMatrix(const Eigen::Matrix<Scalar, 3, 3> &mat)

template<typename Generator>
static inline Rot3 Random(Generator &gen)

static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)

static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)

static const sym::Rot3<Scalar> FromYawPitchRoll(const Vector3 &ypr)

static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)

static inline constexpr int32_t StorageDim()

static inline Rot3 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>)