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14 #include <gtsam_unstable/dllexport.h>
27 static const size_t dimension = 4;
55 void print(
const std::string&
s =
"")
const;
64 double x()
const {
return T_.
x(); }
65 double y()
const {
return T_.
y(); }
66 double z()
const {
return z_; }
69 Point2 translation2()
const;
71 Rot2 rotation2()
const;
81 inline static size_t Dim() {
return dimension; }
84 inline size_t dim()
const {
return dimension; }
104 Pose3Upright
compose(
const Pose3Upright&
p2,
105 OptionalJacobian<4,4> H1={},
106 OptionalJacobian<4,4> H2={})
const;
117 OptionalJacobian<4,4> H2={})
const;
127 static Vector Logmap(
const Pose3Upright&
p);
133 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION //
135 friend class boost::serialization::access;
136 template<
class Archive>
137 void serialize(Archive & ar,
const unsigned int ) {
138 ar & BOOST_SERIALIZATION_NVP(T_);
139 ar & BOOST_SERIALIZATION_NVP(z_);
size_t dim() const
Dimensionality of tangent space = 4 DOF.
Point3_ translation(const Pose3_ &pose)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
const EIGEN_DEVICE_FUNC InverseReturnType inverse() const
Expression< T > between(const Expression< T > &t1, const Expression< T > &t2)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
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
def retract(a, np.ndarray xi)
Both ManifoldTraits and Testable.
Pose3Upright operator*(const Pose3Upright &T) const
compose syntactic sugar
Expression< T > compose(const Expression< T > &t1, const Expression< T > &t2)
Pose2_ Expmap(const Vector3_ &xi)
void print(const Matrix &A, const string &s, ostream &stream)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
double theta() const
get theta
Rot3_ rotation(const Pose3_ &pose)
Array< int, Dynamic, 1 > v
static Pose3Upright Identity()
identity for group operation
Pose3Upright()
Default constructor initializes at origin.
static size_t Dim()
Dimensionality of tangent space = 4 DOF - used to autodetect sizes.
Pose3Upright(const Pose3Upright &x)
Copy constructor.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:24