Ignition Math

API Reference

6.10.0
ignition::math::eigen3 Namespace Reference

Functions

Eigen::Vector3d convert (const Vector3d &_v)
 Convert from Vector3d to Eigen::Vector3d. More...
 
Eigen::AlignedBox3d convert (const AxisAlignedBox &_b)
 Convert from AxisAlignedBox to Eigen::AlignedBox3d. More...
 
Eigen::Matrix3d convert (const Matrix3d &_m)
 Convert from Matrix3d to Eigen::Matrix3d. More...
 
Eigen::Quaterniond convert (const Quaterniond &_q)
 Convert Quaterniond to Eigen::Quaterniond. More...
 
Eigen::Isometry3d convert (const Pose3d &_pose)
 Convert Pose3d to Eigen::Isometry3d. More...
 
Vector3d convert (const Eigen::Vector3d &_v)
 Convert Eigen::Vector3d to Vector3d. More...
 
AxisAlignedBox convert (const Eigen::AlignedBox3d &_b)
 Convert Eigen::AlignedBox3d to AxisAlignedBox. More...
 
Matrix3d convert (const Eigen::Matrix3d &_m)
 Convert Eigen::Matrix3d to Matrix3d. More...
 
Quaterniond convert (const Eigen::Quaterniond &_q)
 Convert Eigen::Quaterniond to Quaterniond. More...
 
Pose3d convert (const Eigen::Isometry3d &_tf)
 Convert Eigen::Isometry3d to Pose3d. More...
 
Eigen::Matrix3d covarianceMatrix (const std::vector< math::Vector3d > &_vertices)
 Get covariance matrix from a set of 3d vertices https://github.com/isl-org/Open3D/blob/76c2baf9debd460900f056a9b51e9a80de9c0e64/cpp/open3d/utility/Eigen.cpp#L305. More...
 
OrientedBoxd verticesToOrientedBox (const std::vector< math::Vector3d > &_vertices)
 Get the oriented 3d bounding box of a set of 3d vertices using PCA http://codextechnicanum.blogspot.com/2015/04/find-minimum-oriented-bounding-box-of.html. More...
 

Function Documentation

◆ convert() [1/10]

Eigen::Vector3d ignition::math::eigen3::convert ( const Vector3d _v)
inline

Convert from Vector3d to Eigen::Vector3d.

Parameters
[in]_vVector3d to convert
Returns
The equivalent Eigen::Vector3d.

Referenced by convert(), covarianceMatrix(), and verticesToOrientedBox().

◆ convert() [2/10]

Eigen::AlignedBox3d ignition::math::eigen3::convert ( const AxisAlignedBox _b)
inline

Convert from AxisAlignedBox to Eigen::AlignedBox3d.

Parameters
[in]_bAxisAlignedBox to convert
Returns
The equivalent Eigen::AlignedBox3d.

References convert(), AxisAlignedBox::Max(), and AxisAlignedBox::Min().

◆ convert() [3/10]

Eigen::Matrix3d ignition::math::eigen3::convert ( const Matrix3d _m)
inline

Convert from Matrix3d to Eigen::Matrix3d.

Parameters
[in]_mMatrix3d to convert.
Returns
The equivalent Eigen::Matrix3d.

◆ convert() [4/10]

Eigen::Quaterniond ignition::math::eigen3::convert ( const Quaterniond _q)
inline

Convert Quaterniond to Eigen::Quaterniond.

Parameters
[in]_qQuaterniond to convert.
Returns
The equivalent Eigen::Quaterniond.

References Quaternion< T >::W(), Quaternion< T >::X(), Quaternion< T >::Y(), and Quaternion< T >::Z().

◆ convert() [5/10]

Eigen::Isometry3d ignition::math::eigen3::convert ( const Pose3d _pose)
inline

Convert Pose3d to Eigen::Isometry3d.

Parameters
[in]_posePose3d to convert.
Returns
The equivalent Eigen::Isometry3d.

References convert(), Pose3< T >::Pos(), and Pose3< T >::Rot().

◆ convert() [6/10]

Vector3d ignition::math::eigen3::convert ( const Eigen::Vector3d &  _v)
inline

Convert Eigen::Vector3d to Vector3d.

Parameters
[in]_vEigen::Vector3d to convert.
Returns
The equivalent Vector3d.

References Vector3< T >::X(), Vector3< T >::Y(), and Vector3< T >::Z().

◆ convert() [7/10]

AxisAlignedBox ignition::math::eigen3::convert ( const Eigen::AlignedBox3d &  _b)
inline

Convert Eigen::AlignedBox3d to AxisAlignedBox.

Parameters
[in]_bEigen::AlignedBox3d to convert.
Returns
The equivalent AxisAlignedBox.

References convert(), AxisAlignedBox::Max(), and AxisAlignedBox::Min().

◆ convert() [8/10]

Matrix3d ignition::math::eigen3::convert ( const Eigen::Matrix3d &  _m)
inline

Convert Eigen::Matrix3d to Matrix3d.

Parameters
[in]_mEigen::Matrix3d to convert.
Returns
The equivalent Matrix3d.

◆ convert() [9/10]

Quaterniond ignition::math::eigen3::convert ( const Eigen::Quaterniond &  _q)
inline

Convert Eigen::Quaterniond to Quaterniond.

Parameters
[in]_qEigen::Quaterniond to convert.
Returns
The equivalent Quaterniond.

References Quaternion< T >::W(), Quaternion< T >::X(), Quaternion< T >::Y(), and Quaternion< T >::Z().

◆ convert() [10/10]

Pose3d ignition::math::eigen3::convert ( const Eigen::Isometry3d &  _tf)
inline

Convert Eigen::Isometry3d to Pose3d.

Parameters
[in]_tfEigen::Isometry3d to convert.
Returns
The equivalent Pose3d.

References convert(), Pose3< T >::Pos(), and Pose3< T >::Rot().

◆ covarianceMatrix()

Eigen::Matrix3d ignition::math::eigen3::covarianceMatrix ( const std::vector< math::Vector3d > &  _vertices)
inline

Get covariance matrix from a set of 3d vertices https://github.com/isl-org/Open3D/blob/76c2baf9debd460900f056a9b51e9a80de9c0e64/cpp/open3d/utility/Eigen.cpp#L305.

Parameters
[in]_verticesa vector of 3d vertices
Returns
Covariance matrix

References convert(), and vector< T >::empty().

Referenced by verticesToOrientedBox().

◆ verticesToOrientedBox()

OrientedBoxd ignition::math::eigen3::verticesToOrientedBox ( const std::vector< math::Vector3d > &  _vertices)
inline

Get the oriented 3d bounding box of a set of 3d vertices using PCA http://codextechnicanum.blogspot.com/2015/04/find-minimum-oriented-bounding-box-of.html.

Parameters
[in]_verticesa vector of 3d vertices
Returns
Oriented 3D box

References convert(), covarianceMatrix(), vector< T >::empty(), ignition::math::INF_I32, ignition::math::mean(), OrientedBox< T >::Pose(), Pose3< T >::Rot(), and OrientedBox< T >::Size().