23 #include <boost/optional.hpp> 44 inline Rot2(
double c,
double s) : c_(c), s_(s) {}
52 Rot2() : c_(1.0), s_(0.0) {}
65 return fromAngle(theta * degree);
69 static Rot2 fromCosSin(
double c,
double s);
90 static Rot2 Random(std::mt19937 &
rng);
97 void print(
const std::string& s =
"theta")
const;
114 return fromCosSin(c_ * R.
c_ - s_ * R.
s_, s_ * R.
c_ + c_ * R.
s_);
194 inline double c()
const {
199 inline double s()
const {
207 Matrix2 transpose()
const;
211 friend class boost::serialization::access;
212 template<
class ARCHIVE>
214 ar & BOOST_SERIALIZATION_NVP(c_);
215 ar & BOOST_SERIALIZATION_NVP(s_);
Point3_ unrotate(const Rot3_ &x, const Point3_ &p)
void print(const Matrix &A, const string &s, ostream &stream)
static Matrix ExpmapDerivative(const Vector &)
Left-trivialized derivative of the exponential map.
Rot2 R(Rot2::fromAngle(0.1))
Pose2_ Expmap(const Vector3_ &xi)
static Vector1 Local(const Rot2 &r, ChartJacobian H=boost::none)
static Matrix LogmapDerivative(const Vector &)
Left-trivialized derivative inverse of the exponential map.
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static Rot2 fromDegrees(double theta)
Named constructor from angle in degrees.
static void normalize(Signature::Row &row)
EIGEN_DEVICE_FUNC const CosReturnType cos() const
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Point3_ rotate(const Rot3_ &x, const Point3_ &p)
Point2 unit() const
Creates a unit vector as a Point2.
Matrix1 AdjointMap() const
Base class and basic functions for Lie types.
Jet< T, N > atan2(const Jet< T, N > &g, const Jet< T, N > &f)
Point2 operator*(const Point2 &p) const
Both LieGroupTraits and Testable.
Rot2 operator*(const Rot2 &R) const
static Rot2 fromAngle(double theta)
Named constructor from angle in radians.
void serialize(ARCHIVE &ar, const unsigned int)
EIGEN_DEVICE_FUNC const SinReturnType sin() const
Rot2(double theta)
Constructor from angle in radians == exponential map at identity.
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
The matrix class, also used for vectors and row-vectors.
static Rot2 Retract(const Vector1 &v, ChartJacobian H=boost::none)
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