gtsam::Pose3Upright Class Reference

#include <Pose3Upright.h>

Static Public Attributes
static const size_t	dimension = 4

Protected Attributes
Pose2	T_
double	z_

Standard Constructors
	Pose3Upright ()
	Default constructor initializes at origin. More...
	Pose3Upright (const Pose3Upright &x)
	Copy constructor. More...
	Pose3Upright (const Rot2 &bearing, const Point3 &t)
	Pose3Upright (double x, double y, double z, double theta)
	Pose3Upright (const Pose2 &pose, double z)
	Pose3Upright (const Pose3 &fullpose)
	Down-converts from a full Pose3. More...

Testable
void	print (const std::string &s="") const
bool	equals (const Pose3Upright &pose, double tol=1e-9) const

Standard Interface
double	x () const
double	y () const
double	z () const
double	theta () const
Point2	translation2 () const
Point3	translation () const
Rot2	rotation2 () const
Rot3	rotation () const
Pose2	pose2 () const
Pose3	pose () const

Manifold
size_t	dim () const
	Dimensionality of tangent space = 4 DOF. More...
Pose3Upright	retract (const Vector &v) const
Vector	localCoordinates (const Pose3Upright &p2) const
	Local 3D coordinates of Pose3Upright manifold neighborhood around current pose. More...
static size_t	Dim ()
	Dimensionality of tangent space = 4 DOF - used to autodetect sizes. More...

Group
Pose3Upright	inverse (OptionalJacobian< 4, 4 > H1={}) const
	inverse transformation with derivatives More...
Pose3Upright	compose (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
	compose this transformation onto another (first *this and then p2) More...
Pose3Upright	operator* (const Pose3Upright &T) const
	compose syntactic sugar More...
Pose3Upright	between (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
static Pose3Upright	Identity ()
	identity for group operation More...

Lie Group
static Pose3Upright	Expmap (const Vector &xi)
	Exponential map at identity - create a rotation from canonical coordinates. More...
static Vector	Logmap (const Pose3Upright &p)
	Log map at identity - return the canonical coordinates of this rotation. More...

Detailed Description

A 3D Pose with fixed pitch and roll

Definition at line 25 of file Pose3Upright.h.

Constructor & Destructor Documentation

Pose3Upright() [1/6]

gtsam::Pose3Upright::Pose3Upright ( )

inline

Default constructor initializes at origin.

Definition at line 39 of file Pose3Upright.h.

Pose3Upright() [2/6]

gtsam::Pose3Upright::Pose3Upright ( const Pose3Upright &  x )

inline

Copy constructor.

Definition at line 42 of file Pose3Upright.h.

Pose3Upright() [3/6]

gtsam::Pose3Upright::Pose3Upright	(	const Rot2 &	bearing,
		const Point3 &	t
	)

Definition at line 19 of file Pose3Upright.cpp.

Pose3Upright() [4/6]

gtsam::Pose3Upright::Pose3Upright	(	double	x,
		double	y,
		double	z,
		double	theta
	)

Definition at line 25 of file Pose3Upright.cpp.

Pose3Upright() [5/6]

gtsam::Pose3Upright::Pose3Upright	(	const Pose2 &	pose,
		double	z
	)

Definition at line 31 of file Pose3Upright.cpp.

Pose3Upright() [6/6]

gtsam::Pose3Upright::Pose3Upright

(

const Pose3 &

fullpose

)

Down-converts from a full Pose3.

Definition at line 37 of file Pose3Upright.cpp.

Member Function Documentation

between()

Pose3Upright gtsam::Pose3Upright::between	(	const Pose3Upright &	p2,
		OptionalJacobian< 4, 4 >	H1 = {},
		OptionalJacobian< 4, 4 >	H2 = {}
	)		const

Return relative pose between p1 and p2, in p1 coordinate frame as well as optionally the derivatives

Definition at line 118 of file Pose3Upright.cpp.

compose()

Pose3Upright gtsam::Pose3Upright::compose	(	const Pose3Upright &	p2,
		OptionalJacobian< 4, 4 >	H1 = {},
		OptionalJacobian< 4, 4 >	H2 = {}
	)		const

compose this transformation onto another (first *this and then p2)

Definition at line 99 of file Pose3Upright.cpp.

Dim()

static size_t gtsam::Pose3Upright::Dim ( )

inlinestatic

Dimensionality of tangent space = 4 DOF - used to autodetect sizes.

Definition at line 81 of file Pose3Upright.h.

dim()

size_t gtsam::Pose3Upright::dim ( ) const

inline

Dimensionality of tangent space = 4 DOF.

Definition at line 84 of file Pose3Upright.h.

equals()

bool gtsam::Pose3Upright::equals	(	const Pose3Upright &	pose,
		double	tol = 1e-9
	)		const

assert equality up to a tolerance

Definition at line 48 of file Pose3Upright.cpp.

Expmap()

Pose3Upright gtsam::Pose3Upright::Expmap ( const Vector &  xi )

static

Exponential map at identity - create a rotation from canonical coordinates.

Definition at line 152 of file Pose3Upright.cpp.

Identity()

static Pose3Upright gtsam::Pose3Upright::Identity ( )

inlinestatic

identity for group operation

Definition at line 98 of file Pose3Upright.h.

inverse()

Pose3Upright gtsam::Pose3Upright::inverse

(

OptionalJacobian< 4, 4 >

H1 = {}

)

const

inverse transformation with derivatives

Definition at line 83 of file Pose3Upright.cpp.

localCoordinates()

Vector gtsam::Pose3Upright::localCoordinates

(

const Pose3Upright &

p2

)

const

Local 3D coordinates of Pose3Upright manifold neighborhood around current pose.

Definition at line 144 of file Pose3Upright.cpp.

Logmap()

Vector gtsam::Pose3Upright::Logmap ( const Pose3Upright &  p )

static

Log map at identity - return the canonical coordinates of this rotation.

Definition at line 159 of file Pose3Upright.cpp.

operator*()

Pose3Upright gtsam::Pose3Upright::operator* ( const Pose3Upright &  T ) const

inline

compose syntactic sugar

Definition at line 109 of file Pose3Upright.h.

pose()

Pose3 gtsam::Pose3Upright::pose

(

)

const

Definition at line 78 of file Pose3Upright.cpp.

pose2()

Pose2 gtsam::Pose3Upright::pose2

(

)

const

Definition at line 73 of file Pose3Upright.cpp.

print()

void gtsam::Pose3Upright::print

(

const std::string &

s = ""

)

const

print with optional string

Definition at line 43 of file Pose3Upright.cpp.

retract()

Pose3Upright gtsam::Pose3Upright::retract

(

const Vector &

v

)

const

Retraction from R^4 to Pose3Upright manifold neighborhood around current pose Tangent space parameterization is [x y z theta]

Definition at line 137 of file Pose3Upright.cpp.

rotation()

Rot3 gtsam::Pose3Upright::rotation

(

)

const

Definition at line 68 of file Pose3Upright.cpp.

rotation2()

Rot2 gtsam::Pose3Upright::rotation2

(

)

const

Definition at line 63 of file Pose3Upright.cpp.

theta()

double gtsam::Pose3Upright::theta ( ) const

inline

Definition at line 67 of file Pose3Upright.h.

translation()

Point3 gtsam::Pose3Upright::translation

(

)

const

Definition at line 53 of file Pose3Upright.cpp.

translation2()

Point2 gtsam::Pose3Upright::translation2

(

)

const

Definition at line 58 of file Pose3Upright.cpp.

x()

double gtsam::Pose3Upright::x ( ) const

inline

Definition at line 64 of file Pose3Upright.h.

y()

double gtsam::Pose3Upright::y ( ) const

inline

Definition at line 65 of file Pose3Upright.h.

z()

double gtsam::Pose3Upright::z ( ) const

inline

Definition at line 66 of file Pose3Upright.h.

Member Data Documentation

dimension

const size_t gtsam::Pose3Upright::dimension = 4

static

Definition at line 27 of file Pose3Upright.h.

T_

Pose2 gtsam::Pose3Upright::T_

protected

Definition at line 31 of file Pose3Upright.h.

z_

double gtsam::Pose3Upright::z_

protected

Definition at line 32 of file Pose3Upright.h.

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The documentation for this class was generated from the following files:

• Pose3Upright.h
• Pose3Upright.cpp