SIM3_< Precision > Class Template Reference

Represent a three-dimensional similarity transformation,7 degrees of freedom a rotation: R (Here is represented by 4 paraments quaternion:Class SO3)–3 DoF a translation: T (a 3 paraments vector)–3 DoF a scale: s –1 DoF It is the equivalent of a 4*4 Matrix: | R*s T^T| | 0 1 |. More...

Public Member Functions
	SIM3_ ()
	Default constructor. Initialises the the rotation to zero (the identity), the scale to one and the translation to zero.
	SIM3_ (const SO3_< Precision > &R, const Point3_< Precision > &T, const Precision &S=1.0)
	SIM3_ (const SE3_< Precision > &T, const Precision &S=1.0)
template<typename Scalar >
	operator SIM3_< Scalar > ()
Point3_< Precision >	get_translation () const
Point3_< Precision > &	get_translation ()
SO3_< Precision >	get_rotation () const
SO3_< Precision > &	get_rotation ()
SE3_< Precision >	get_se3 () const
SE3_< Precision > &	get_se3 ()
Precision &	get_scale ()
Precision	get_scale () const
SIM3_< Precision >	operator* (const SIM3_< Precision > &rhs) const
Point3_< Precision >	operator* (const Point3_< Precision > &P) const
SIM3_< Precision >	inv () const
Vector< Precision, 7 >	log () const

Static Public Member Functions
static SIM3_	exp (const Vector< Precision, 7 > &mu)

Protected Attributes
SE3_< Precision >	my_se3
Precision	my_scale

Detailed Description

template<typename Precision = double>
class GSLAM::SIM3_< Precision >

Represent a three-dimensional similarity transformation,7 degrees of freedom a rotation: R (Here is represented by 4 paraments quaternion:Class SO3)–3 DoF a translation: T (a 3 paraments vector)–3 DoF a scale: s –1 DoF It is the equivalent of a 4*4 Matrix: | R*s T^T| | 0 1 |.

This transformation is a member of the Lie group SIM3. These can be parameterised with seven numbers (in the space of the Lie Algebra). In this class, the first three parameters are a translation vector, while the second three are a rotation vector,whose direction is the axis of rotation, and length the amount of rotation (in radians), as for SO3. The seventh parameter is the log of the scale of the transformation.