operators.hpp File Reference

File with some helper functions related to matrix/vector operations. More...

#include <stdint.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>

Go to the source code of this file.

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

Functions
template<typename Scalar_T >
Eigen::Matrix< Scalar_T, 3, 3 >	okvis::kinematics::crossMx (Scalar_T x, Scalar_T y, Scalar_T z)
	Cross matrix of a vector [x,y,z]. Adopted from Schweizer-Messer by Paul Furgale. More...
template<typename Derived_T >
Eigen::Matrix< typename Eigen::internal::traits < Derived_T >::Scalar, 3, 3 >	okvis::kinematics::crossMx (Eigen::MatrixBase< Derived_T > const &v)
	Cross matrix of a vector v. Adopted from Schweizer-Messer by Paul Furgale. More...
Eigen::Matrix4d	okvis::kinematics::plus (const Eigen::Quaterniond &q_AB)
	Plus matrix of a quaternion, i.e. q_AB*q_BC = plus(q_AB)*q_BC.coeffs(). More...
Eigen::Matrix4d	okvis::kinematics::oplus (const Eigen::Quaterniond &q_BC)
	Oplus matrix of a quaternion, i.e. q_AB*q_BC = oplus(q_BC)*q_AB.coeffs(). More...

Detailed Description

File with some helper functions related to matrix/vector operations.

Author

Stefan Leutenegger