GCOP: gcop::SE2 Class Reference

GCOP 1.0

gcop
SE2

#include <se2.h>

Inheritance diagram for gcop::SE2:

Inheritance graph

Collaboration diagram for gcop::SE2:

Collaboration graph

List of all members.

Public Member Functions
	SE2 ()
void	inv (Matrix3d &mi, const Matrix3d &m) const
void	hat (Matrix3d &vh, const Vector3d &v) const
void	hatinv (Vector3d &v, const Matrix3d &vh) const
void	Tg (Matrix3d &m, const Matrix3d &g) const
void	Ad (Matrix3d &m, const Matrix3d &g) const
void	ad (Matrix3d &m, const Vector3d &v) const
void	adinv (Vector3d &v, const Matrix3d &m) const
void	exp (Matrix3d &m, const Vector3d &v) const
void	log (Vector3d &v, const Matrix3d &m) const
void	plog (Vector3d &v, const Matrix3d &m) const
void	cay (Matrix3d &g, const Vector3d &v) const
void	cayinv (Vector3d &v, const Matrix3d &m) const
void	dcay (Matrix3d &m, const Vector3d &v) const
void	dcayinv (Matrix3d &m, const Vector3d &v) const
void	q2g (Matrix3d &g, const Vector3d &q) const
void	g2q (Vector3d &q, const Matrix3d &g) const
Static Public Member Functions
static SE2 &	Instance ()
static RowVector2d	r2hat (const Vector2d &a)
static double	cross2 (Vector2d a, Vector2d b)
Public Attributes
double	tol
	numerical tolerance

Constructor & Destructor Documentation

SE2::SE2 ( )

Member Function Documentation

void SE2::Ad	(	Matrix3d &	m,
		const Matrix3d &	g
	)		const

Referenced by gcop::Kinbody2d::Step(), gcop::Gunicycle::Step(), and gcop::Body2d< c >::Step().

void SE2::ad	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

void SE2::adinv	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

void SE2::cay	(	Matrix3d &	g,
		const Vector3d &	v
	)		const

Referenced by gcop::Kinbody2d::Step(), gcop::Gunicycle::Step(), gcop::Body2d< c >::Step(), gcop::Posegraph2d::Synthesize(), gcop::Body2dGraph::Synthesize(), gcop::Posegraph2d::Synthesize2(), gcop::Body2dGraph::Synthesize2(), and gcop::Body2dGraph::Synthesize3().

void SE2::cayinv	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References tol.

static double gcop::SE2::cross2	(	Vector2d	a,
		Vector2d	b
	)		`[inline, static]`

void SE2::dcay	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

Referenced by gcop::Kinbody2d::Step(), gcop::Gunicycle::Step(), and gcop::Body2d< c >::Step().

void SE2::dcayinv	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

void SE2::exp	(	Matrix3d &	m,
		const Vector3d &	v
	)		const

References tol.

void SE2::g2q	(	Vector3d &	q,
		const Matrix3d &	g
	)		const

Referenced by gcop::GunicycleCost::L(), gcop::Body2dCost< c >::L(), gcop::GunicycleManifold::Lift(), gcop::AirplaneView::Render(), gcop::GunicycleView::Render(), gcop::Kinbody2dView::Render(), and gcop::Body2dView< c >::Render().

void SE2::hat	(	Matrix3d &	vh,
		const Vector3d &	v
	)		const

void SE2::hatinv	(	Vector3d &	v,
		const Matrix3d &	vh
	)		const

SE2 & SE2::Instance ( ) [static]

Referenced by gcop::Body2dTrack::Get(), gcop::GunicycleCost::L(), gcop::Body2dCost< c >::L(), gcop::GunicycleManifold::Lift(), gcop::GunicycleView::Render(), gcop::AirplaneView::Render(), gcop::Kinbody2dView::Render(), gcop::Body2dView< c >::Render(), gcop::GunicycleManifold::Retract(), gcop::Kinbody2d::Step(), gcop::Gunicycle::Step(), gcop::Body2d< c >::Step(), gcop::Posegraph2d::Synthesize(), gcop::Body2dGraph::Synthesize(), gcop::Posegraph2d::Synthesize2(), gcop::Body2dGraph::Synthesize2(), and gcop::Body2dGraph::Synthesize3().

void SE2::inv	(	Matrix3d &	mi,
		const Matrix3d &	m
	)		const

Referenced by gcop::Body2dCost< c >::L().

void SE2::log	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

References tol.

void SE2::plog	(	Vector3d &	v,
		const Matrix3d &	m
	)		const

void SE2::q2g	(	Matrix3d &	g,
		const Vector3d &	q
	)		const

Referenced by gcop::Body2dTrack::Get(), and gcop::GunicycleManifold::Retract().

static RowVector2d gcop::SE2::r2hat ( const Vector2d & a ) [inline, static]

void SE2::Tg	(	Matrix3d &	m,
		const Matrix3d &	g
	)		const

Referenced by gcop::GunicycleCost::L(), and gcop::Body2dCost< c >::L().

Member Data Documentation

double gcop::SE2::tol

numerical tolerance

Referenced by cayinv(), exp(), and log().

The documentation for this class was generated from the following files:

lib/utils/se2.h
lib/utils/se2.cc