#include <LieGroupBase.hpp>
Inheritance diagram for LieGroupBase< T_DERIVED, T_DOF >:
Collaboration diagram for LieGroupBase< T_DERIVED, T_DOF >:
Public Member Functions | |
| T_DERIVED | inverse () const |
| void | inverted () |
| void | operator*= (T_DERIVED const &g) |
| NOXVector< T_DOF > | toNOXVector () const |
 Public Member Functions inherited from CRTP< T_DERIVED > | |
| T_DERIVED & | underlying () |
| T_DERIVED const & | underlying () const |
Static Public Member Functions | |
| static T_DERIVED | Identity () |
| static const unsigned int | dof () |
Static Public Attributes | |
| static const unsigned int | DOF = T_DOF |
Detailed Description
template<typename T_DERIVED, unsigned int T_DOF>
class LieGroupBase< T_DERIVED, T_DOF >
This class uses the Curiously Recurring Template Pattern (CRTP). To define an inherited class, do something like class Derived : LieGroupBase<Derived,DOF>
Member Function Documentation
◆ Identity()
template<typename T_DERIVED, unsigned int T_DOF>
|
static |
- Returns
- the element representing the group identity for operation
*.
◆ inverse()
template<typename T_DERIVED, unsigned int T_DOF>
| T_DERIVED LieGroupBase< T_DERIVED, T_DOF >::inverse | ( | ) | const |
- Returns
- the group inverse of
*this.
◆ inverted()
template<typename T_DERIVED, unsigned int T_DOF>
|
inline |
Inverts the group element *this
◆ operator*=()
template<typename T_DERIVED, unsigned int T_DOF>
| void LieGroupBase< T_DERIVED, T_DOF >::operator*= | ( | T_DERIVED const & | g | ) |
Group operation '*'.
◆ toNOXVector()
template<typename T_DERIVED, unsigned int T_DOF>
| NOXVector<T_DOF> LieGroupBase< T_DERIVED, T_DOF >::toNOXVector | ( | ) | const |
- Returns
- the vector representation of the rotation, that is the vector \(\vec v\) such that the rotation of any given vector \(\vec u\) is the result of \(vec v\wedge\vec u\).
The documentation for this class was generated from the following file:
- Geomi/src/Common/LieGroupBase.hpp
