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updated/fixed docu
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strasdat committed Mar 4, 2013
1 parent ebb5fa9 commit 00740e0
Showing 6 changed files with 70 additions and 71 deletions.
14 changes: 7 additions & 7 deletions sophus/rxso3.hpp
Original file line number Diff line number Diff line change
@@ -278,15 +278,15 @@ class RxSO3GroupBase {
}

/**
* \brief Read/write access to quaternion
* \brief Mutator of quaternion
*/
EIGEN_STRONG_INLINE
QuaternionReference quaternion() {
return static_cast<Derived*>(this)->quaternion();
}

/**
* \brief Read access to quaternion
* \brief Accessor of quaternion
*/
EIGEN_STRONG_INLINE
ConstQuaternionReference quaternion() const {
@@ -687,15 +687,15 @@ class RxSO3Group : public RxSO3GroupBase<RxSO3Group<_Scalar,_Options> > {
}

/**
* \brief Read/write access to quaternion
* \brief Mutator of quaternion
*/
EIGEN_STRONG_INLINE
QuaternionReference quaternion() {
return quaternion_;
}

/**
* \brief Read access to quaternion
* \brief Accessor of quaternion
*/
EIGEN_STRONG_INLINE
ConstQuaternionReference quaternion() const {
@@ -757,15 +757,15 @@ class Map<Sophus::RxSO3Group<_Scalar>, _Options>
}

/**
* \brief Read/write access to quaternion
* \brief Mutator of quaternion
*/
EIGEN_STRONG_INLINE
QuaternionReference quaternion() {
return quaternion_;
}

/**
* \brief Read access to quaternion
* \brief Accessor of quaternion
*/
EIGEN_STRONG_INLINE
ConstQuaternionReference quaternion() const {
@@ -820,7 +820,7 @@ class Map<const Sophus::RxSO3Group<_Scalar>, _Options>
}

/**
* \brief Read access to unit quaternion
* \brief Accessor of unit quaternion
*
* No direct write access is given to ensure the quaternion stays normalized.
*/
32 changes: 16 additions & 16 deletions sophus/se2.hpp
Original file line number Diff line number Diff line change
@@ -243,7 +243,7 @@ class SE2GroupBase {
* \returns point \f$p' \in \mathbf{R}^2 \f$,
* rotated and translated version of \f$p\f$
*
* This function rotates aand translates point \f$ p \f$
* This function rotates and translates point \f$ p \f$
* in \f$ \mathbf{R}^2 \f$ by the SE2 transformation \f$R,t\f$
* (=rotation matrix, translation vector): \f$ p' = R\cdot p + t \f$.
*/
@@ -299,39 +299,39 @@ class SE2GroupBase {
}

/**
* \brief Read/write access to SO2 group
* \brief Mutator of SO2 group
*/
EIGEN_STRONG_INLINE
SO2Reference so2() {
return static_cast<Derived*>(this)->so2();
}

/**
* \brief Read access to SO2 group
* \brief Accessor of SO2 group
*/
EIGEN_STRONG_INLINE
ConstSO2Reference so2() const {
return static_cast<const Derived*>(this)->so2();
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return static_cast<Derived*>(this)->translation();
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
return static_cast<const Derived*>(this)->translation();
}

/**
* \brief Read access to unit complex number
* \brief Accessor of unit complex number
*
* No direct write access is given to ensure the complex number stays
* normalized.
@@ -700,31 +700,31 @@ class SE2Group : public SE2GroupBase<SE2Group<_Scalar,_Options> > {
}

/**
* \brief Read access to SO2
* \brief Accessor of SO2
*/
EIGEN_STRONG_INLINE
SO2Reference so2() {
return so2_;
}

/**
* \brief Read/write access to SO2
* \brief Mutator of SO2
*/
EIGEN_STRONG_INLINE
ConstSO2Reference so2() const {
return so2_;
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return translation_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
@@ -793,31 +793,31 @@ class Map<Sophus::SE2Group<_Scalar>, _Options>
}

/**
* \brief Read/write access to SO2
* \brief Mutator of SO2
*/
EIGEN_STRONG_INLINE
SO2Reference so2() {
return so2_;
}

/**
* \brief Read access to SO2
* \brief Accessor of SO2
*/
EIGEN_STRONG_INLINE
ConstSO2Reference so2() const {
return so2_;
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return translation_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
@@ -882,15 +882,15 @@ class Map<const Sophus::SE2Group<_Scalar>, _Options>
}

/**
* \brief Read access to SO2
* \brief Accessor of SO2
*/
EIGEN_STRONG_INLINE
ConstSO2Reference so2() const {
return so2_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
32 changes: 16 additions & 16 deletions sophus/se3.hpp
Original file line number Diff line number Diff line change
@@ -249,7 +249,7 @@ class SE3GroupBase {
* \returns point \f$p' \in \mathbf{R}^3 \f$,
* rotated and translated version of \f$p\f$
*
* This function rotates aand translates point \f$ p \f$
* This function rotates and translates point \f$ p \f$
* in \f$ \mathbf{R}^3 \f$ by the SE3 transformation \f$R,t\f$
* (=rotation matrix, translation vector): \f$ p' = R\cdot p + t \f$.
*/
@@ -292,15 +292,15 @@ class SE3GroupBase {


/**
* \brief Read/write access to SO3 group
* \brief Mutator of SO3 group
*/
EIGEN_STRONG_INLINE
SO3Reference so3() {
return static_cast<Derived*>(this)->so3();
}

/**
* \brief Read access to SO3 group
* \brief Accessor of SO3 group
*/
EIGEN_STRONG_INLINE
ConstSO3Reference so3() const {
@@ -333,23 +333,23 @@ class SE3GroupBase {
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return static_cast<Derived*>(this)->translation();
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
return static_cast<const Derived*>(this)->translation();
}

/**
* \brief Read access to unit quaternion
* \brief Accessor of unit quaternion
*
* No direct write access is given to ensure the quaternion stays normalized.
*/
@@ -738,31 +738,31 @@ class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
}

/**
* \brief Read access to SO3
* \brief Accessor of SO3
*/
EIGEN_STRONG_INLINE
SO3Reference so3() {
return so3_;
}

/**
* \brief Read/write access to SO3
* \brief Mutator of SO3
*/
EIGEN_STRONG_INLINE
ConstSO3Reference so3() const {
return so3_;
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return translation_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
@@ -832,31 +832,31 @@ class Map<Sophus::SE3Group<_Scalar>, _Options>
}

/**
* \brief Read/write access to SO3
* \brief Mutator of SO3
*/
EIGEN_STRONG_INLINE
SO3Reference so3() {
return so3_;
}

/**
* \brief Read access to SO3
* \brief Accessor of SO3
*/
EIGEN_STRONG_INLINE
ConstSO3Reference so3() const {
return so3_;
}

/**
* \brief Read/write access to translation vector
* \brief Mutator of translation vector
*/
EIGEN_STRONG_INLINE
TranslationReference translation() {
return translation_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
@@ -922,15 +922,15 @@ class Map<const Sophus::SE3Group<_Scalar>, _Options>
}

/**
* \brief Read access to SO3
* \brief Accessor of SO3
*/
EIGEN_STRONG_INLINE
ConstSO3Reference so3() const {
return so3_;
}

/**
* \brief Read access to translation vector
* \brief Accessor of translation vector
*/
EIGEN_STRONG_INLINE
ConstTranslationReference translation() const {
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