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Transformation.hpp File Reference

Header file for the Transformation class. More...

#include <stdint.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "okvis/kinematics/operators.hpp"
#include "implementation/Transformation.hpp"

Go to the source code of this file.

Classes

class  okvis::kinematics::Transformation
 A class that does homogeneous transformations. This relates a frame A and B: T_AB; it consists of translation r_AB (represented in frame A) and Quaternion q_AB (as an Eigen Quaternion). see also the RSS'13 / IJRR'14 paper or the Thesis. Follows some of the functionality of the SchweizerMesser library by Paul Furgale, but uses Eigen quaternions underneath. More...
 

Namespaces

 okvis
 okvis Main namespace of this package.
 
 okvis::kinematics
 kinematics Namespace for kinematics functionality, i.e. transformations and stuff.
 

Functions

__inline__ double okvis::kinematics::sinc (double x)
 Implements sin(x)/x for all x in R. More...
 
__inline__ Eigen::Quaterniond okvis::kinematics::deltaQ (const Eigen::Vector3d &dAlpha)
 Implements the exponential map for quaternions. More...
 
__inline__ Eigen::Matrix3d okvis::kinematics::rightJacobian (const Eigen::Vector3d &PhiVec)
 Right Jacobian, see Forster et al. RSS 2015 eqn. (8) More...
 

Detailed Description

Header file for the Transformation class.

Author
Stefan Leutenegger