SE3 Lie algebra and distribution over SE3 in Matlab as functions
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
barfoot
matse3
README.md
ROBUSTNESS.txt
compoundwrap.m
example1.m
testbarexp1.m
testbasicmul.m
testcompund.m
testinv.m
testlogcov.m
testrot.m
testvectran.m
vec2tranwrap.m

README.md

SE3 with Gaussian Distribution Emanuele Ruffaldi, Scuola Superiore Sant'Anna 2014-2016

Overview

Representation: group = rotation and translation as full 4x4 matrix adjoint = adjoint 6x6 representation of the group for transforming parameters algebra as parametric = 6 values of angular and translational velocity gaussian group = group with gaussian as 6x6 covariance

Function organization for use in Simulink

Function Organization

Useful for Matlab Simulink code generation, all under matse3

  • representation: group: matrix 4x4 alg: vector 1x6 dist: flattened(16+36): matrix4x4 followed by covariance (6x6)
  • operations on group (se3_): conversion, mul, invert, exp, log, adj
  • operations on group distribution (se3d_): conversion/build, mul, invert, fuse, sample, build from data

Class Organization

Class se3d wrapping the above functions

TODO

  • There is still an outstanding bug
  • Finalize testing of non linear transformation using sigma points
  • More Examples