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24 #include <gtsam/config.h>
36 Unit3::Unit3(
const Vector3&
p) : p_(
p.normalized()) {}
50 *
H << direction.
basis().transpose() * D_p_point;
58 std::uniform_real_distribution<double>
uniform(-1.0, 1.0);
64 sqsum =
x *
x +
y *
y;
66 const double mult = 2 *
sqrt(1 - sqsum);
67 return Unit3(
x * mult,
y * mult, 2 * sqsum - 1);
74 if ((mx <= my) && (mx <= mz)) {
75 return Point3(1.0, 0.0, 0.0);
76 }
else if ((my <= mx) && (my <= mz)) {
77 return Point3(0.0, 1.0, 0.0);
89 std::unique_lock<std::mutex> lock(B_mutex_);
92 const bool cachedBasis =
static_cast<bool>(
B_);
93 const bool cachedJacobian =
static_cast<bool>(
H_B_);
96 if (!cachedJacobian) {
100 Matrix33 H_B1_n, H_b1_B1, H_b2_n, H_b2_b1;
114 const Matrix32& H_n_p =
B;
115 jacobian.block<3, 2>(0, 0) = H_b1_B1 * H_B1_n * H_n_p;
116 auto H_b1_p = jacobian.block<3, 2>(0, 0);
117 jacobian.block<3, 2>(3, 0) = H_b2_n * H_n_p + H_b2_b1 * H_b1_p;
159 os << pair.
p_ << endl;
165 cout <<
s <<
":" <<
p_ << endl;
181 const Point3 qn =
q.point3(H_q ? &H_qn_q :
nullptr);
184 Matrix13 H_dot_pn, H_dot_qn;
185 double d =
gtsam::dot(pn, qn, H_p ? &H_dot_pn :
nullptr, H_q ? &H_dot_qn :
nullptr);
188 (*H_p) << H_dot_pn * H_pn_p;
192 (*H_q) = H_dot_qn * H_qn_q;
203 *H_q =
basis().transpose() *
q.basis();
213 const Point3 qn =
q.point3(H_q ? &H_qn_q :
nullptr);
217 Matrix23 Bt =
basis(H_p ? &H_B_p :
nullptr).transpose();
222 const Matrix32& H_b1_p = H_B_p.block<3, 2>(0, 0);
223 const Matrix32& H_b2_p = H_B_p.block<3, 2>(3, 0);
226 const Matrix13 H_xi1_b1 = qn.transpose();
227 const Matrix13 H_xi2_b2 = qn.transpose();
230 const Matrix12 H_xi1_p = H_xi1_b1 * H_b1_p;
231 const Matrix12 H_xi2_p = H_xi2_b2 * H_b2_p;
232 *H_p << H_xi1_p, H_xi2_p;
237 const Matrix23 H_xi_qu = Bt;
238 *H_q = H_xi_qu * H_qn_q;
248 const double theta =
xi.norm();
250 *
H = (
xi.transpose() / theta) * H_xi_q;
258 const double theta = xi_hat.norm();
262 Matrix23 H_from_point;
265 H? &H_from_point :
nullptr);
268 (-
p_ * xi_hat.transpose() + Matrix33::Identity()) *
basis();
273 const double st =
std::sin(theta) / theta;
275 H? &H_from_point :
nullptr);
278 (
p_ * -st * xi_hat.transpose() + st * Matrix33::Identity() +
279 xi_hat * ((
c - st) /
std::pow(theta, 2)) * xi_hat.transpose()) *
basis();
290 const double x2 =
x *
x;
291 const double z = 1 -
x2;
295 y = 1.0 - (
x - 1.0) / 3.0;
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Matrix< SCALARB, Dynamic, Dynamic, opt_B > B
static const double d[K][N]
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Jet< T, N > sin(const Jet< T, N > &f)
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
Point3 point3(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Point3.
static std::uniform_real_distribution uniform(0.0, 1.0)
std::optional< Matrix62 > H_B_
Cached basis derivative.
std::optional< Matrix32 > B_
Cached basis.
Vector2 error(const Unit3 &q, OptionalJacobian< 2, 2 > H_q={}) const
ofstream os("timeSchurFactors.csv")
Matrix3 skewSymmetric(double wx, double wy, double wz)
Jet< T, N > acos(const Jet< T, N > &f)
Jet< T, N > cos(const Jet< T, N > &f)
Unit3()
Default constructor.
double dot(const Unit3 &q, OptionalJacobian< 1, 2 > H1={}, OptionalJacobian< 1, 2 > H2={}) const
Return dot product with q.
static void normalize(Signature::Row &row)
Point3 cross(const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2)
cross product
double distance(const Unit3 &q, OptionalJacobian< 1, 2 > H={}) const
Distance between two directions.
EIGEN_DEVICE_FUNC const Scalar & q
double dot(const V1 &a, const V2 &b)
Jet< T, N > pow(const Jet< T, N > &f, double g)
Unit3 retract(const Vector2 &v, OptionalJacobian< 2, 2 > H={}) const
The retract function.
static Point3 CalculateBestAxis(const Point3 &n)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Vector2 errorVector(const Unit3 &q, OptionalJacobian< 2, 2 > H_p={}, OptionalJacobian< 2, 2 > H_q={}) const
Matrix3 skew() const
Return skew-symmetric associated with 3D point on unit sphere.
Array< int, Dynamic, 1 > v
static Unit3 Random(std::mt19937 &rng)
const Matrix32 & basis(OptionalJacobian< 6, 2 > H={}) const
Represents a 3D point on a unit sphere.
Vector3 unitVector(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Vector.
static Unit3 FromPoint3(const Point3 &point, OptionalJacobian< 2, 3 > H={})
Named constructor from Point3 with optional Jacobian.
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)
Jet< T, N > sqrt(const Jet< T, N > &f)
void print(const std::string &s=std::string()) const
The print fuction.
Vector2 localCoordinates(const Unit3 &s) const
The local coordinates function.
Vector3 p_
The location of the point on the unit sphere.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:09:38