Ocean
Static Public Member Functions
Ocean::SophusUtilities Class Reference
Ocean Math Library

This class implements utilitiy functions for Sophus. More...

Static Public Member Functions

template<typename TSource , typename TTarget >
static HomogenousMatrixT4< TTarget > toHomogenousMatrix4 (const Sophus::SE3< TSource > &sophusSE)
 Converts a Sophus::SE3 object to an Ocean HomogenousMatrix4 object. More...
 
template<typename TSource , typename TTarget >
static HomogenousMatrixT4< TTarget > toHomogenousMatrix4 (const Sophus::Sim3< TSource > &sophusSim)
 Converts a Sophus::Sim3 object to an Ocean HomogenousMatrix4 object. More...
 
template<typename TSource , typename TTarget >
static Sophus::SE3< TTarget > toSE3 (const HomogenousMatrixT4< TSource > &homogenousMatrix)
 Converts an Ocean HomogenousMatrix4 object to a Sophus::SE3 object. More...
 

Detailed Description

This class implements utilitiy functions for Sophus.

Member Function Documentation

◆ toHomogenousMatrix4() [1/2]

template<typename TSource , typename TTarget >
HomogenousMatrixT4< TTarget > Ocean::SophusUtilities::toHomogenousMatrix4 ( const Sophus::SE3< TSource > &  sophusSE)
inlinestatic

Converts a Sophus::SE3 object to an Ocean HomogenousMatrix4 object.

Parameters
sophusSEThe Sophus object to be converted
Returns
The resulting Ocean object
Template Parameters
TSourceThe data type of the source SE elements, e.g., 'float', or 'double'
TTargetThe data type of the target matrix elements, e.g., 'float', or 'double'

◆ toHomogenousMatrix4() [2/2]

template<typename TSource , typename TTarget >
HomogenousMatrixT4< TTarget > Ocean::SophusUtilities::toHomogenousMatrix4 ( const Sophus::Sim3< TSource > &  sophusSim)
inlinestatic

Converts a Sophus::Sim3 object to an Ocean HomogenousMatrix4 object.

Parameters
sophusSimThe Sophus object to be converted
Returns
The resulting Ocean object
Template Parameters
TSourceThe data type of the source SE elements, e.g., 'float', or 'double'
TTargetThe data type of the target matrix elements, e.g., 'float', or 'double'

◆ toSE3()

template<typename TSource , typename TTarget >
Sophus::SE3< TTarget > Ocean::SophusUtilities::toSE3 ( const HomogenousMatrixT4< TSource > &  homogenousMatrix)
inlinestatic

Converts an Ocean HomogenousMatrix4 object to a Sophus::SE3 object.

Parameters
homogenousMatrixThe Ocean homgenous matrix object to convert, must be valid
Returns
The resulting Sophus::SE3 object
Template Parameters
TSourceThe data type of the source matrix elements, e.g., 'float', or 'double'
TTargetThe data type of the target SE elements, e.g., 'float', or 'double'
The documentation for this class was generated from the following file: