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