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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