okvis::kinematics Namespace Reference

kinematics Namespace for kinematics functionality, i.e. transformations and stuff. More...

Classes
class	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...

Functions
__inline__ double	sinc (double x)
	Implements sin(x)/x for all x in R. More...
__inline__ Eigen::Quaterniond	deltaQ (const Eigen::Vector3d &dAlpha)
	Implements the exponential map for quaternions. More...
__inline__ Eigen::Matrix3d	rightJacobian (const Eigen::Vector3d &PhiVec)
	Right Jacobian, see Forster et al. RSS 2015 eqn. (8) More...
template<typename Scalar_T >
Eigen::Matrix< Scalar_T, 3, 3 >	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 >	crossMx (Eigen::MatrixBase< Derived_T > const &v)
	Cross matrix of a vector v. Adopted from Schweizer-Messer by Paul Furgale. More...
Eigen::Matrix4d	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	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

kinematics Namespace for kinematics functionality, i.e. transformations and stuff.

Function Documentation

template<typename Scalar_T >

Eigen::Matrix<Scalar_T, 3, 3> okvis::kinematics::crossMx ( Scalar_T  x, Scalar_T  y, Scalar_T  z  )

inline

Cross matrix of a vector [x,y,z]. Adopted from Schweizer-Messer by Paul Furgale.

Template Parameters

Scalar_T

The scalar type, auto-deducible (typically double).

Parameters

[in]	x	First vector element.
[in]	y	Second vector element.
[in]	z	Third vector element.

template<typename Derived_T >

Eigen::Matrix<typename Eigen::internal::traits<Derived_T>::Scalar, 3, 3> okvis::kinematics::crossMx ( Eigen::MatrixBase< Derived_T > const &  v )

inline

Cross matrix of a vector v. Adopted from Schweizer-Messer by Paul Furgale.

Template Parameters

Derived_T

The vector type, auto-deducible.

Parameters

[in]

v

The vector.

Eigen::Quaterniond okvis::kinematics::deltaQ

(

const Eigen::Vector3d &

dAlpha

)

Implements the exponential map for quaternions.

Parameters

[in]

dAlpha

a axis*angle (minimal) input in tangent space.

Returns

The corresponding Quaternion.

Eigen::Matrix4d okvis::kinematics::oplus ( const Eigen::Quaterniond &  q_BC )

inline

Oplus matrix of a quaternion, i.e. q_AB*q_BC = oplus(q_BC)*q_AB.coeffs().

Parameters

[in]

q_BC

A Quaternion.

Eigen::Matrix4d okvis::kinematics::plus ( const Eigen::Quaterniond &  q_AB )

inline

Plus matrix of a quaternion, i.e. q_AB*q_BC = plus(q_AB)*q_BC.coeffs().

Parameters

[in]

q_AB

A Quaternion.

Eigen::Matrix3d okvis::kinematics::rightJacobian

(

const Eigen::Vector3d &

PhiVec

)

Right Jacobian, see Forster et al. RSS 2015 eqn. (8)

double okvis::kinematics::sinc

(

double

x

)

Implements sin(x)/x for all x in R.

Parameters

[in]

x

The argument of the sinc function.

Returns

The result.