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Matrix6 | AdjointMap () const |
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Vector6 | Adjoint (const Vector6 &xi_b, OptionalJacobian< 6, 6 > H_this={}, OptionalJacobian< 6, 6 > H_xib={}) const |
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Vector6 | AdjointTranspose (const Vector6 &x, OptionalJacobian< 6, 6 > H_this={}, OptionalJacobian< 6, 6 > H_x={}) const |
| The dual version of Adjoint. More...
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static Pose3 | Expmap (const Vector6 &xi, OptionalJacobian< 6, 6 > Hxi={}) |
| Exponential map at identity - create a rotation from canonical coordinates . More...
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static Vector6 | Logmap (const Pose3 &pose, OptionalJacobian< 6, 6 > Hpose={}) |
| Log map at identity - return the canonical coordinates of this rotation. More...
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static Matrix6 | adjointMap (const Vector6 &xi) |
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static Vector6 | adjoint (const Vector6 &xi, const Vector6 &y, OptionalJacobian< 6, 6 > Hxi={}, OptionalJacobian< 6, 6 > H_y={}) |
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static Matrix6 | adjointMap_ (const Vector6 &xi) |
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static Vector6 | adjoint_ (const Vector6 &xi, const Vector6 &y) |
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static Vector6 | adjointTranspose (const Vector6 &xi, const Vector6 &y, OptionalJacobian< 6, 6 > Hxi={}, OptionalJacobian< 6, 6 > H_y={}) |
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static Matrix6 | ExpmapDerivative (const Vector6 &xi) |
| Derivative of Expmap. More...
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static Matrix6 | LogmapDerivative (const Pose3 &xi) |
| Derivative of Logmap. More...
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static Matrix3 | ComputeQforExpmapDerivative (const Vector6 &xi, double nearZeroThreshold=1e-5) |
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static Matrix | wedge (double wx, double wy, double wz, double vx, double vy, double vz) |
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const Rot3 & | rotation (OptionalJacobian< 3, 6 > Hself={}) const |
| get rotation More...
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const Point3 & | translation (OptionalJacobian< 3, 6 > Hself={}) const |
| get translation More...
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double | x () const |
| get x More...
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double | y () const |
| get y More...
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double | z () const |
| get z More...
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Matrix4 | matrix () const |
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Pose3 | transformPoseFrom (const Pose3 &aTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HaTb={}) const |
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Pose3 | transformPoseTo (const Pose3 &wTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HwTb={}) const |
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double | range (const Point3 &point, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 3 > Hpoint={}) const |
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double | range (const Pose3 &pose, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 6 > Hpose={}) const |
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Unit3 | bearing (const Point3 &point, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 3 > Hpoint={}) const |
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Unit3 | bearing (const Pose3 &pose, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 6 > Hpose={}) const |
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Pose3 | between (const Pose3 &g) const |
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Pose3 | between (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const |
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SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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Pose3 | compose (const Pose3 &g) const |
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Pose3 | compose (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const |
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SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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const Pose3 & | derived () const |
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Pose3 | expmap (const TangentVector &v) const |
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Pose3 | expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| expmap with optional derivatives More...
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Pose3 | inverse (ChartJacobian H) const |
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TangentVector | localCoordinates (const Pose3 &g) const |
| localCoordinates as required by manifold concept: finds tangent vector between *this and g More...
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TangentVector | localCoordinates (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const |
| localCoordinates with optional derivatives More...
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TangentVector | logmap (const Pose3 &g) const |
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TangentVector | logmap (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const |
| logmap with optional derivatives More...
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Pose3 | retract (const TangentVector &v) const |
| retract as required by manifold concept: applies v at *this More...
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Pose3 | retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| retract with optional derivatives More...
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static TangentVector | LocalCoordinates (const Pose3 &g) |
| LocalCoordinates at origin: possible in Lie group because it has an identity. More...
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static TangentVector | LocalCoordinates (const Pose3 &g, ChartJacobian H) |
| LocalCoordinates at origin with optional derivative. More...
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static Pose3 | Retract (const TangentVector &v) |
| Retract at origin: possible in Lie group because it has an identity. More...
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static Pose3 | Retract (const TangentVector &v, ChartJacobian H) |
| Retract at origin with optional derivative. More...
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A 3D pose (R,t) : (Rot3,Point3)
Definition at line 37 of file Pose3.h.
Matrix6 Pose3::adjointMap |
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const Vector6 & |
xi | ) |
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static |
Compute the [ad(w,v)] operator as defined in [Kobilarov09siggraph], pg 11 [ad(w,v)] = [w^, zero3; v^, w^] Note that this is the matrix representation of the adjoint operator for se3 Lie algebra, aka the Lie bracket, and also the derivative of Adjoint map for the Lie group SE3.
Let be the se3 Lie algebra, and be its vector representation. We have the following relationship:
We use this to compute the discrete version of the inverse right-trivialized tangent map, and its inverse transpose in the discrete Euler Poincare' (DEP) operator.
Definition at line 106 of file Pose3.cpp.
Pose3 Pose3::interpolateRt |
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const Pose3 & |
T, |
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double |
t |
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Interpolate between two poses via individual rotation and translation interpolation.
The default "interpolate" method defined in Lie.h minimizes the geodesic distance on the manifold, leading to a screw motion interpolation in Cartesian space, which might not be what is expected. In contrast, this method executes a straight line interpolation for the translation, while still using interpolate (aka "slerp") for the rotational component. This might be more intuitive in many applications.
- Parameters
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T | End point of interpolation. |
t | A value in [0, 1]. |
Definition at line 162 of file Pose3.cpp.