Class inertialsim::geometry::ExtendedPose¶

ClassList > inertialsim > geometry > ExtendedPose

#include <extended_pose.h>

Inherits the following classes: inertialsim::geometry::MatrixLieGroup

Public Types¶

Type	Name
typedef MatrixLieGroup< ExtendedPose, 5, 9 >	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
std::tuple< Rotation, Translation, Vector >	AsApv () const Return the attitude, position, and velocity.
const Rotation &	AsAttitude () const Return the attitude component of the ExtendedPose instance.
const Translation &	AsPosition () const Return the position component of the ExtendedPose instance.
const Vector &	AsVelocity () const Return the velocity component of the ExtendedPose instance.
std::tuple< Vector3D, Vector3D, Vector3D >	Error (const ExtendedPose & reference) const Calculate error compared to a reference pose.
const Rotation &	attitude () const The attitude component of the pose.
int	num_poses () const The number of extended poses stored in the instance.
const Translation &	position () const The position component of the pose.
const Vector &	velocity () const The velocity component of the pose.

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¶

Type	Name
ExtendedPose	FromApv (const Rotation & attitude, const Translation & position, const Vector & velocity, const std::optional< Timestamps > & time=std::nullopt) Construct from attitude, position, and velocity.
ExtendedPose	FromApv (const RotationMatrixArray & rotation_matrices, const Vector3D & position_xyz, const Vector3D & velocity_xyz, const std::optional< Timestamps > & time=std::nullopt, bool orthonormalize=false) Construct from rotation matrices, position, and velocity vectors.

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¶

Type	Name
	ExtendedPose () Default constructor.
	ExtendedPose (const Rotation & attitude, const Translation & position, const Vector & velocity, const std::optional< Timestamps > & time=std::nullopt) Construct from attitude, position, and velocity.

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¶

ExtendedPose behaves similarly to Pose with the addition of velocity. Represents elements of the SE2(3) Lie group.

Public Types Documentation¶

typedef Base¶

using inertialsim::geometry::ExtendedPose::Base =  MatrixLieGroup<ExtendedPose, 5, 9>;

Public Functions Documentation¶

function AsApv¶

Return the attitude, position, and velocity.

inline std::tuple< Rotation , Translation , Vector > inertialsim::geometry::ExtendedPose::AsApv () const

See additional documentation at FromApv.

Returns:

Tuple containing:

Attitude (Rotation)
Position (Translation)
Velocity (Vector)

function AsAttitude¶

Return the attitude component of the ExtendedPose instance.

inline const  Rotation & inertialsim::geometry::ExtendedPose::AsAttitude () const

Returns:

Rotation instance.

function AsPosition¶

Return the position component of the ExtendedPose instance.

inline const  Translation & inertialsim::geometry::ExtendedPose::AsPosition () const

Returns:

Translation instance.

function AsVelocity¶

Return the velocity component of the ExtendedPose instance.

inline const  Vector & inertialsim::geometry::ExtendedPose::AsVelocity () const

Returns:

Vector instance.

function Error¶

Calculate error compared to a reference pose.

inline std::tuple< Vector3D , Vector3D , Vector3D > inertialsim::geometry::ExtendedPose::Error (
    const  ExtendedPose & reference
) const

Returns the error in the current pose when compared to a reference input. Error is defined as self - reference.

Parameters:

reference Reference (or truth) pose to compare.

Returns:

Tuple containing:

Attitude error
Position error
Velocity error

function attitude¶

The attitude component of the pose.

inline const  Rotation & inertialsim::geometry::ExtendedPose::attitude () const

Returns:

Attitude (rotation) component.

function num_poses¶

The number of extended poses stored in the instance.

inline int inertialsim::geometry::ExtendedPose::num_poses () const

Returns:

Number of poses.

function position¶

The position component of the pose.

inline const  Translation & inertialsim::geometry::ExtendedPose::position () const

Returns:

Position (translation) component.

function velocity¶

The velocity component of the pose.

inline const  Vector & inertialsim::geometry::ExtendedPose::velocity () const

Returns:

Velocity component.

Public Static Functions Documentation¶

function FromApv [1/2]¶

Construct from attitude, position, and velocity.

static inline ExtendedPose inertialsim::geometry::ExtendedPose::FromApv (
    const  Rotation & attitude,
    const  Translation & position,
    const  Vector & velocity,
    const std::optional< Timestamps > & time=std::nullopt
)

Attitude is also known as orientation. The inputs must be compatible (dimension, time, etc.) or an exception is raised.

Parameters:

attitude Rotation instance.
position Translation instance.
velocity Vector instance.
time Optional array of unique, strictly increasing times corresponding to each input. Ignored if inputs are single elements.

Returns:

ExtendedPose instance.

function FromApv [2/2]¶

Construct from rotation matrices, position, and velocity vectors.

static inline ExtendedPose inertialsim::geometry::ExtendedPose::FromApv (
    const  RotationMatrixArray & rotation_matrices,
    const  Vector3D & position_xyz,
    const  Vector3D & velocity_xyz,
    const std::optional< Timestamps > & time=std::nullopt,
    bool orthonormalize=false
)

Attitude is also known as orientation. The inputs must be compatible (dimension, time, etc.) or an exception is raised.

Parameters:

rotation_matrices Array of rotation matrices.
position_xyz Position vectors (3xN matrix).
velocity_xyz Velocity vectors (3xN matrix).
time Optional array of unique, strictly increasing times corresponding to each input.
orthonormalize If the attitude input is an array, whether to enforce orthonormality. Ignored otherwise.

Returns:

ExtendedPose instance.

Protected Functions Documentation¶

function ExtendedPose [1/2]¶

Default constructor.

inline inertialsim::geometry::ExtendedPose::ExtendedPose ()

function ExtendedPose [2/2]¶

Construct from attitude, position, and velocity.

inline inertialsim::geometry::ExtendedPose::ExtendedPose (
    const  Rotation & attitude,
    const  Translation & position,
    const  Vector & velocity,
    const std::optional< Timestamps > & time=std::nullopt
)

Parameters:

attitude Rotation component.
position Translation component.
velocity Vector component.
time Optional time array.

The documentation for this class was generated from the following file cpp/include/inertialsim/geometry/extended_pose.h