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sophus_defs.pxd
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sophus_defs.pxd
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# -*- coding: utf-8 -*-
from eigency.core cimport *
cdef extern from "<sophus/so3.hpp>" namespace "Sophus":
cdef cppclass SO3[Scalar]:
SO3() except +
# copy constructor
SO3(const SO3&) except +
SO3(const Map[Matrix3d]&) except +
Matrix3d& matrix()
Vector3d log()
SO3 inverse()
void normalize()
SO3 mul "operator*"(const SO3&)
SO3 mul_assign "operator*="(const SO3&)
@staticmethod
SO3[Scalar] exp(const Map[Vector3d]&)
@staticmethod
Matrix3d generator(int i)
@staticmethod
Matrix3d hat(const Map[Vector3d]&)
@staticmethod
Vector3d vee(const Map[Matrix3d]&)
@staticmethod
SO3 rotX(const Scalar&)
@staticmethod
SO3 rotY(const Scalar&)
@staticmethod
SO3 rotZ(const Scalar&)
cdef extern from "<sophus/se3.hpp>" namespace "Sophus":
cdef cppclass SE3[Scalar]:
SE3() except +
SE3(const SE3&) except +
SE3(const Map[Matrix4d] &mat) except +
Matrix4d& matrix()
Vector3d translation()
SO3 so3()
VectorXd log()
SE3 inverse()
void normalize()
Matrix4d rotationMatrix()
void setRotationMatrix(const Map[Matrix3d]&)
SE3 mul "operator*"(const SE3&)
SE3 mul_assign "operator*="(const SE3&)
@staticmethod
SE3[Scalar] exp(const Map[VectorXd]&)
@staticmethod
Matrix4d generator(int i)
@staticmethod
Matrix4d hat(const Map[VectorXd]&)
@staticmethod
VectorXd vee(const Map[Matrix4d]&)
# Single axis factories
@staticmethod
SE3 trans(const Scalar&, const Scalar&, const Scalar&)
@staticmethod
SE3 transX(const Scalar&)
@staticmethod
SE3 transY(const Scalar&)
@staticmethod
SE3 transZ(const Scalar&)
@staticmethod
SE3 rotX(const Scalar&)
@staticmethod
SE3 rotY(const Scalar&)
@staticmethod
SE3 rotZ(const Scalar&)