SE3.h File Reference

#include "SO3.h"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <iostream>
#include <math.h>

Go to the source code of this file.

Classes
class	SE3< T >
	Class representing a member of the \(SE(3)\) manifold, or a 3D rigid body transform. More...

Typedefs
typedef SE3< double >	SE3d

Functions
template<typename T >
SE3< T >	operator* (const double &l, const SE3< T > &r)
	Scale a transform by a scalar.
template<typename T >
SE3< T >	operator* (const SE3< T > &l, const double &r)
	Scale a transform by a scalar.
template<typename T >
std::ostream &	operator<< (std::ostream &os, const SE3< T > &x)
	Render the transform in a stream.

Typedef Documentation

SE3d

typedef SE3<double> SE3d

Function Documentation

operator*() [1/2]

template<typename T >

SE3< T > operator*	(	const double &	l,
		const SE3< T > &	r )

Scale a transform by a scalar.

Under the hood, this converts the transform into a tangent-space vector, scales the vector, then converts the scaled vector back to a transform.

operator*() [2/2]

template<typename T >

SE3< T > operator*	(	const SE3< T > &	l,
		const double &	r )

Scale a transform by a scalar.

Under the hood, this converts the transform into a tangent-space vector, scales the vector, then converts the scaled vector back to a transform.

operator<<()

template<typename T >

std::ostream & operator<< ( std::ostream & os, const SE3< T > & x )

inline

Render the transform in a stream.