SO3.h File Reference

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

Go to the source code of this file.

Classes
class	SO3< T >
	Class representing a member of the \(SO(3)\) manifold, or a 3D rotation. More...

Typedefs
typedef SO3< double >	SO3d

Functions
template<typename T >
SO3< T >	operator* (const double &l, const SO3< T > &r)
	Scale a rotation by a scalar.
template<typename T >
SO3< T >	operator* (const SO3< T > &l, const double &r)
	Scale a rotation by a scalar.
template<typename T >
std::ostream &	operator<< (std::ostream &os, const SO3< T > &q)
	Render the rotation in a stream.

Typedef Documentation

SO3d

typedef SO3<double> SO3d

Function Documentation

operator*() [1/2]

template<typename T >

SO3< T > operator*	(	const double &	l,
		const SO3< T > &	r )

Scale a rotation by a scalar.

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

operator*() [2/2]

template<typename T >

SO3< T > operator*	(	const SO3< T > &	l,
		const double &	r )

Scale a rotation by a scalar.

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

operator<<()

template<typename T >

std::ostream & operator<< ( std::ostream & os, const SO3< T > & q )

inline

Render the rotation in a stream.