C++ (Cpp) Matrix3f::setIdentity Examples

Example #1

File: MultilevelPatch.hpp Project: Jinqiang/rovio

 /** \brief Resets the MultilevelPatch.
  *
  * @param idx - feature ID
  * @initTime  - Time at initialization.
  */
 void reset(){
   H_.setIdentity();
   e0_ = 0;
   e1_ = 0;
   s_ = 0;
   for(unsigned int i = 0;i<nLevels_;i++){
     isValidPatch_[i] = false;
   }
 }

Example #2

File: GraspPlannerEvaluatorWindow.cpp Project: gkalogiannis/simox

Eigen::Matrix3f GraspPlannerEvaluatorWindow::rodriguesFormula(Eigen::Vector3f vector, float theta) {
	//Rotation vector must be of unit length
	//Angle theta must be in rad
	Eigen::Matrix3f mat;
	mat.setIdentity();

	Eigen::Matrix3f skewSym = getSkewSymmetricMatrix(vector);

	mat = mat + skewSym*sin(theta) + skewSym*skewSym*(1 - cos(theta));

	return mat;
}