* @brief Convert the vector part of a quaternion to a * full quaternion. * @note This function is useful to convert delta quaternion * which

Creates multiple empty trees to handle dynamic support */

Make sure the auxiliary list \a vind has the same size than the current * dataset, and re-generate if size has changed. */

Must return the number of data points

Returns the dim'th component of the idx'th point in the class:

* Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1]. * Their indices are stored inside the result object. \sa radiusSearch,

* Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1]. * Their indices are stored inside the result object. \sa radiusSearch,

Lie bracket It computes the Lie bracket of SE(3). To be more specific, it computes ``[omega_1, omega_2]_se3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of SE(2). To be more specific, it computes ``[omega_1, omega_2]_se2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of SO(3). To be more specific, it computes ``[omega_1, omega_2]_so3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(2). To be more specific, it computes ``[omega_1, omega_2]_sim2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(3). To be more specific, it computes ``[omega_1, omega_2]_sim3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It returns the Lie bracket of SO(2). Since SO(2) is a commutative group, the Lie bracket is simple ``0``.

Lie bracket It computes the Lie bracket of RxSO(2). To be more specific, it computes ``[omega_1, omega_2]_rxso2 := vee([hat(omega_1), hat(omega_2)])

Lie bracket It computes the Lie bracket of RxSO(3). To be more specific, it computes ``[omega_1, omega_2]_rxso3 := vee([hat(omega_1), hat(omega_2)])

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (scaled rotation matrices) to elements o

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t

Normalize SO2 element It re-normalizes the SO2 element.

It re-normalizes ``unit_complex`` to unit length. Note: Because of the class invariant, there is typically no need to call this function directly.