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19 Pose3Upright::Pose3Upright(
const Rot2& bearing,
const Point3&
t)
26 : T_(
x,
y, theta), z_(
z)
44 cout <<
s <<
"(" <<
T_.
x() <<
", " <<
T_.
y() <<
", " <<
z_ <<
", " <<
T_.
theta() <<
")" << endl;
92 H1_.topLeftCorner(2, 2) = H3x3.topLeftCorner(2, 2);
93 H1_.topRightCorner(2, 1) = H3x3.topRightCorner(2, 1);
109 H1_.topLeftCorner(2,2) = H3x3.topLeftCorner(2,2);
110 H1_.topRightCorner(2, 1) = H3x3.topRightCorner(2, 1);
128 H1_.topLeftCorner(2,2) = H3x3_1.topLeftCorner(2,2);
129 H1_.topRightCorner(2, 1) = H3x3_1.topRightCorner(2, 1);
138 assert(
v.size() == 4);
153 assert(
xi.size() == 4);
Pose2 inverse() const
inverse
Class between(const Class &g) const
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
typedef and functions to augment Eigen's VectorXd
bool equals(const Pose2 &pose, double tol=1e-9) const
Pose3Upright compose(const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
compose this transformation onto another (first *this and then p2)
const Point2 & t() const
translation
Class compose(const Class &g) const
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
static Rot3 Yaw(double t)
Positive yaw is to right (as in aircraft heading). See ypr.
Pose3Upright between(const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
static Pose2 Expmap(const Vector3 &xi, ChartJacobian H={})
Exponential map at identity - create a rotation from canonical coordinates .
static Pose3Upright Expmap(const Vector &xi)
Exponential map at identity - create a rotation from canonical coordinates.
static Vector3 Logmap(const Pose2 &p, ChartJacobian H={})
Log map at identity - return the canonical coordinates of this rotation.
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
static Vector Logmap(const Pose3Upright &p)
Log map at identity - return the canonical coordinates of this rotation.
const Rot2 & r() const
rotation
Variation of a Pose3 in which the rotation is constained to purely yaw This state is essentially a Po...
Special class for optional Jacobian arguments.
TangentVector localCoordinates(const Class &g) const
localCoordinates as required by manifold concept: finds tangent vector between *this and g
double theta() const
get theta
Point2 translation2() const
Rot3_ rotation(const Pose3_ &pose)
Point3 translation() const
bool equals(const Pose3Upright &pose, double tol=1e-9) const
void print(const std::string &s="") const
Array< int, Dynamic, 1 > v
Class retract(const TangentVector &v) const
retract as required by manifold concept: applies v at *this
The matrix class, also used for vectors and row-vectors.
Pose3Upright retract(const Vector &v) const
Pose3Upright()
Default constructor initializes at origin.
Vector localCoordinates(const Pose3Upright &p2) const
Local 3D coordinates of Pose3Upright manifold neighborhood around current pose.
Pose3Upright inverse(OptionalJacobian< 4, 4 > H1={}) const
inverse transformation with derivatives
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:24