Trait cv_core::Pose[−][src]

pub trait Pose: From<IsometryMatrix3<f64>> + Clone + Copy {
    type InputPoint: Projective;
    type OutputPoint: Projective;
    type Inverse: Pose;
    fn isometry(self) -> IsometryMatrix3<f64>;

    fn identity() -> Self { ... }

    fn inverse(self) -> Self::Inverse { ... }

    fn scale(self, scale: f64) -> Self { ... }

    fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self { ... }

    fn homogeneous(self) -> Matrix4<f64> { ... }

    fn se3(self) -> Vector6<f64> { ... }

    fn from_se3(se3: Vector6<f64>) -> Self { ... }

    fn transform_jacobians(
        self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>) { ... }

    fn transform_jacobian_input(
        self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix4<f64>) { ... }

    fn transform_jacobian_self(
        self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix4x6<f64>) { ... }

    fn transform(self, input: Self::InputPoint) -> Self::OutputPoint { ... }
}
Expand description

This trait is implemented by all the different poses in this library:

Associated Types

Required methods

Retrieve the isometry.

Provided methods

Creates a pose with no change in position or orientation.

Takes the inverse of the pose.

Applies a scale factor to the pose (scales the translation component)

Create the pose from rotation and translation.

Retrieve the homogeneous matrix.

Retrieve the se(3) representation of the pose.

Set the se(3) representation of the pose.

Transform the given point to an output point, while also retrieving both Jacobians.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

Transform the given point to an output point, while also retrieving the input Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

Implementors