transform_utils.hpp File Reference

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <algorithm>
#include <array>
#include <cmath>

Include dependency graph for transform_utils.hpp:

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Namespaces
namespace	reusex
namespace	reusex::geometry
namespace	reusex::geometry::se3
	Minimal se(3) exp/log used by the joint pose optimizer.

Typedefs
using	reusex::geometry::se3::Vector6d = Eigen::Matrix<double, 6, 1>

Functions
Eigen::Affine3f	reusex::geometry::to_affine (const std::array< double, 16 > &m)
	Build a 4x4 Eigen affine (float) from a row-major double[16] array.
std::array< double, 16 >	reusex::geometry::to_array16 (const Eigen::Affine3f &aff)
	Flatten a 4x4 Eigen affine (float) into a row-major double[16] array.
Eigen::Matrix3d	reusex::geometry::se3::hat3 (const Eigen::Vector3d &w)
	Skew-symmetric matrix [w]_x such that [w]_x v == w x v.
Eigen::Matrix4d	reusex::geometry::se3::exp (const Vector6d &xi)
	Exponential map se(3) -> SE(3). xi = [omega; v].
Vector6d	reusex::geometry::se3::log (const Eigen::Matrix4d &T)
	Logarithm map SE(3) -> se(3). Returns xi = [omega; v].