Group action on lines. This function rotates a parametrized line ``l(t) = o + t * d`` by the SO3 element: Both direction ``d`` and origin ``o`` are

Group action on lines. This function rotates and translates a parametrized line ``l(t) = o + t * d`` by the SE(3) element: Origin is transformed usi

Group action on lines. This function rotates and translates a parametrized line ``l(t) = o + t * d`` by the SE(2) element: Origin ``o`` is rotated a

Group action on lines. This function rotates, scales and translates a parametrized line ``l(t) = o + t * d`` by the Sim(2) element: Origin ``o`` is

Group action on lines. This function rotates a parameterized line ``l(t) = o + t * d`` by the SO2 element and scales it by the scale factor Origin `

Group action on lines. This function rotates, scales and translates a parametrized line ``l(t) = o + t * d`` by the Sim(3) element: Origin ``o`` is

Group action on lines. This function rotates a parametrized line ``l(t) = o + t * d`` by the SO3 element ans scales it by the scale factor: Origin `

Group action on lines. This function rotates a parametrized line ``l(t) = o + t * d`` by the SO2 element: Both direction ``d`` and origin ``o`` are

Assignment operator definiton */

* Subdivide the list of points by a plane perpendicular on axe corresponding * to the 'cutfeat' dimension at 'cutval' position. * * On ret

\brief transform point pi to the MAP coordinate * \param[in] pi: point to be transformed * \param[in] po: point after transfomation * \param[in] _t

\brief Mapping main thread */

* @brief Perform q1 * q2. * * Format of q1 and q2 is as [x,y,z,w] */

* @brief Convert a quaternion to the corresponding rotation matrix * @note Pay attention to the convention used. The function follows the * conve

Query for the \a num_closest closest points to a given point (entered as * query_point[0:dim-1]). Note that this is a short-cut method for * ind

Query for the \a num_closest closest points to a given point (entered as query_point[0:dim-1]). * Note that this is a short-cut method for index->

* Find all the neighbors to \a query_point[0:dim-1] within a maximum radius. * The output is given as a vector of pairs, of which the first elemen

Remove a point from the set (Lazy Deletion) */

Construct pure rotation.

Construct x-axis rotation.

Construct x-axis rotation.

Construct y-axis rotation.

Construct y-axis rotation.

Construct z-axis rotation.

Construct z-axis rotation.

* @brief Convert a rotation matrix to a quaternion. * @note Pay attention to the convention used. The function follows the * conversion in "Indir

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m

Setter of rotation angle, leaves scale as is.

Takes in complex number, and normalizes it. Precondition: The complex number must not be close to zero.

Setter of non-zero complex number. Precondition: ``z`` must not be close to zero.

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

Sets ``so3`` using ``rotation_matrix``. Precondition: ``R`` must be orthogonal and ``det(R)=1``.

Setter of complex number using rotation matrix ``R``, leaves scale as is.

Setter of complex using rotation matrix ``R``, leaves scale as is. Precondition: ``R`` must be orthogonal with determinant of one.

Setter of quaternion using rotation matrix ``R``, leaves scale as is.

Setter of quaternion using rotation matrix ``R``, leaves scale as is.

Setter of SO(3) rotations, leaves scale as is.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Sets scale and leaves rotation as is.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Sets scale and leaves rotation as is. Note: This function as a significant computational cost, since it has to call the square root twice.

Setter of complexnumber using scaled rotation matrix ``sR``. Precondition: The 2x2 matrix must be "scaled orthogonal" and have a positive determinant

Setter of complex number using scaled rotation matrix ``sR``. Precondition: The 2x2 matrix must be "scaled orthogonal" and have a positive determinan

Setter of quaternion using scaled rotation matrix ``sR``. Precondition: The 3x3 matrix must be "scaled orthogonal" and have a positive determinant.

Setter of quaternion using scaled rotation matrix ``sR``. Precondition: The 3x3 matrix must be "scaled orthogonal" and have a positive determinant.

Returns number of points in dataset */

* @brief Create a skew-symmetric matrix from a 3-element vector. * @note Performs the operation: * w -> [ 0 -w3 w2] * [ w3 0 -w1

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