Class inertialsim::geometry::CoordinateTranslation¶
ClassList > inertialsim > geometry > CoordinateTranslation
3-dimensional coordinate frame translations (passive convention). More...
#include <coordinate_translation.h>
Inherits the following classes: inertialsim::geometry::VectorBase
Public Types inherited from inertialsim::geometry::VectorBase¶
See inertialsim::geometry::VectorBase
| Type | Name |
|---|---|
| typedef MatrixLieGroup< Derived, 4, 3 > | Base |
Public Types inherited from inertialsim::geometry::MatrixLieGroup¶
See inertialsim::geometry::MatrixLieGroup
| Type | Name |
|---|---|
| typedef Eigen::Matrix< Scalar, AlgebraDimension, Eigen::Dynamic > | AlgebraArray Array of algebra elements. |
| typedef Eigen::Matrix< Scalar, AlgebraDimension, 1 > | AlgebraElement Algebra element type (vector). |
| typedef std::vector< GroupElement > | GroupArray Array of group elements. |
| typedef Eigen::Matrix< Scalar, GroupDimension, GroupDimension > | GroupElement Group element type (square matrix). |
| typedef Eigen::Matrix< Scalar, AlgebraDimension, AlgebraDimension > | JacobianMatrix Jacobian matrix (algebra to algebra). |
| typedef std::vector< JacobianMatrix > | JacobianMatrixArray Array of Jacobian matrices. |
Public Functions¶
| Type | Name |
|---|---|
| int | num_translations () const Number of translations stored. |
Public Functions inherited from inertialsim::geometry::VectorBase¶
See inertialsim::geometry::VectorBase
| Type | Name |
|---|---|
| Array3D | AsSpherical () const Return spherical coordinates (radius, polar, azimuth). |
| Vector3D | AsXyz () const Return Cartesian coordinates. |
| Vector3D | Error (const Derived & reference) const Calculate error compared to a reference vector. |
| Vector3D | Error (const Vector3D & reference) const Calculate error compared to a reference array. |
| int | num_vectors () const Number of vectors stored. |
| Derived | operator* (double scalar) const Multiply by a scalar. |
| Derived | operator+ (const Derived & rhs) const Add two vectors. |
| Derived | operator- (const Derived & rhs) const Subtract two vectors. |
| Derived | operator/ (double scalar) const Divide by a scalar. |
Public Functions inherited from inertialsim::geometry::MatrixLieGroup¶
See inertialsim::geometry::MatrixLieGroup
| Type | Name |
|---|---|
| Vector3D | Apply (const Vector3D & vectors) const Apply the group action to an array of vectors. |
| Derived | Interpolate (const Timestamps & interp_time, Interpolator method=Interpolator::LINEAR) const Interpolate at given times. |
| Derived | Inverse () const Invert an instance. |
| Derived | Slice (int start, int end) const Get a slice of elements. |
| AlgebraArray | TimeDerivative (int order=1, int accuracy=4, const std::string & side="right") const Compute time derivative using finite differences. |
| int | num_elements () const Number of elements stored in the instance. |
| Derived | operator* (const Derived & rhs) const Compose elements of the group. |
| Derived | operator[] (int index) const Get a single element by index. |
| const std::optional< Timestamps > & | time () const Time array corresponding to each element. |
| virtual | ~MatrixLieGroup () = default |
Public Static Functions inherited from inertialsim::geometry::VectorBase¶
See inertialsim::geometry::VectorBase
| Type | Name |
|---|---|
| Derived | FromSpherical (const Array3D & rpa, const std::optional< Timestamps > & time=std::nullopt) Construct from spherical coordinates (radius, polar, azimuth). |
| Derived | FromXyz (const Vector3D & xyz, const std::optional< Timestamps > & time=std::nullopt) Construct from Cartesian coordinates. |
Public Static Functions inherited from inertialsim::geometry::MatrixLieGroup¶
See inertialsim::geometry::MatrixLieGroup
| Type | Name |
|---|---|
| Derived | Compose (const std::vector< Derived > & instances) Compose a sequence of instances (first to last). |
| Derived | FromIdentity (int num_elements=1) Create identity elements. |
| Derived | FromRandom (int num_elements=1, std::optional< Eigen::numext::uint64_t > seed=std::nullopt) Create random elements. |
Protected Functions inherited from inertialsim::geometry::VectorBase¶
See inertialsim::geometry::VectorBase
| Type | Name |
|---|---|
| VectorBase () Default constructor. |
|
| VectorBase (const Vector3D & xyz, const std::optional< Timestamps > & time=std::nullopt) Construct from Cartesian coordinates. |
Protected Functions inherited from inertialsim::geometry::MatrixLieGroup¶
See inertialsim::geometry::MatrixLieGroup
| Type | Name |
|---|---|
| AlgebraArray | AsAlgebra () const Get the algebra elements. |
| GroupArray | AsGroup () const Get the group elements. |
| MatrixLieGroup (const std::optional< Timestamps > & time=std::nullopt) Constructor. |
|
| int | num_times () const |
Protected Static Functions inherited from inertialsim::geometry::MatrixLieGroup¶
See inertialsim::geometry::MatrixLieGroup
| Type | Name |
|---|---|
| GroupElement | Exp (const AlgebraElement & vector) Exponential map from algebra to group. |
| Derived | FromAlgebra (const AlgebraArray & elements, const std::optional< Timestamps > & time) Create instance from algebra elements. |
| Derived | FromGroup (const GroupArray & elements, const std::optional< Timestamps > & time) Create instance from group elements. |
| JacobianMatrixArray | Jacobian (const AlgebraArray & algebra, const std::string & side="left", bool inverse=false) Calculate the Jacobian of the exponential map. |
| AlgebraElement | Log (const GroupElement & element) Logarithm map from group to algebra. |
Detailed Description¶
CoordinateTranslation stores translations using the passive convention for use in coordinate frame transforms.
In the passive convention, the translation is negated compared to the active convention used by Translation.
Public Functions Documentation¶
function num_translations¶
Number of translations stored.
The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/coordinate_translation.h