#include <Pose2.h>

Inheritance diagram for gtsam::Pose2:

Classes
struct	ChartAtOrigin

Public Types
typedef Rot2	Rotation

typedef Point2	Translation

Public Types inherited from gtsam::LieGroup< Pose2, 3 >
enum

typedef OptionalJacobian< N, N >	ChartJacobian

typedef Eigen::Matrix< double, N, N >	Jacobian

typedef Eigen::Matrix< double, N, 1 >	TangentVector

Public Member Functions
Standard Constructors
	Pose2 ()

	Pose2 (const Pose2 &pose)

	Pose2 (double x, double y, double theta)

	Pose2 (double theta, const Point2 &t)

	Pose2 (const Rot2 &r, const Point2 &t)

	Pose2 (const Matrix &T)

Advanced Constructors
	Pose2 (const Vector &v)

Testable
GTSAM_EXPORT void	print (const std::string &s="") const

GTSAM_EXPORT bool	equals (const Pose2 &pose, double tol=1e-9) const

Group Action on Point2
GTSAM_EXPORT Point2	transformTo (const Point2 &point, OptionalJacobian< 2, 3 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const

GTSAM_EXPORT Point2	transformFrom (const Point2 &point, OptionalJacobian< 2, 3 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const

Point2	operator* (const Point2 &point) const

Standard Interface
double	x () const
	get x More...

double	y () const
	get y More...

double	theta () const
	get theta More...

const Point2 &	t () const
	translation More...

const Rot2 &	r () const
	rotation More...

const Point2 &	translation () const
	translation More...

const Rot2 &	rotation () const
	rotation More...

GTSAM_EXPORT Matrix3	matrix () const

GTSAM_EXPORT Rot2	bearing (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const

GTSAM_EXPORT Rot2	bearing (const Pose2 &pose, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) const

GTSAM_EXPORT double	range (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const

GTSAM_EXPORT double	range (const Pose2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) const

Public Member Functions inherited from gtsam::LieGroup< Pose2, 3 >
Pose2	between (const Pose2 &g) const

Pose2	between (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

Pose2	compose (const Pose2 &g) const

Pose2	compose (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

const Pose2 &	derived () const

Pose2	expmap (const TangentVector &v) const

Pose2	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	expmap with optional derivatives More...

Pose2	inverse (ChartJacobian H) const

TangentVector	localCoordinates (const Pose2 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g More...

TangentVector	localCoordinates (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	localCoordinates with optional derivatives More...

TangentVector	logmap (const Pose2 &g) const

TangentVector	logmap (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	logmap with optional derivatives More...

Pose2	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this More...

Pose2	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	retract with optional derivatives More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Private Attributes
Rot2	r_

Point2	t_

Friends
class	boost::serialization::access

Group
GTSAM_EXPORT Pose2	inverse () const
	inverse More...

Pose2	operator* (const Pose2 &p2) const
	compose syntactic sugar More...

static Pose2	identity ()
	identity for group operation More...

Lie Group
GTSAM_EXPORT Matrix3	AdjointMap () const

Vector3	Adjoint (const Vector3 &xi) const
	Apply AdjointMap to twist xi. More...

static GTSAM_EXPORT Pose2	Expmap (const Vector3 &xi, ChartJacobian H=boost::none)
	Exponential map at identity - create a rotation from canonical coordinates $[T_x,T_y,\theta]$ . More...

static GTSAM_EXPORT Vector3	Logmap (const Pose2 &p, ChartJacobian H=boost::none)
	Log map at identity - return the canonical coordinates $[T_x,T_y,\theta]$ of this rotation. More...

static GTSAM_EXPORT Matrix3	adjointMap (const Vector3 &v)

static Vector3	adjoint (const Vector3 &xi, const Vector3 &y)

static Vector3	adjointTranspose (const Vector3 &xi, const Vector3 &y)

static Matrix3	adjointMap_ (const Vector3 &xi)

static Vector3	adjoint_ (const Vector3 &xi, const Vector3 &y)

static Matrix3	wedge (double vx, double vy, double w)

static GTSAM_EXPORT Matrix3	ExpmapDerivative (const Vector3 &v)
	Derivative of Expmap. More...

static GTSAM_EXPORT Matrix3	LogmapDerivative (const Pose2 &v)
	Derivative of Logmap. More...

Advanced Interface
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Pose2 &p)
	Output stream operator. More...

static std::pair< size_t, size_t >	translationInterval ()

static std::pair< size_t, size_t >	rotationInterval ()

Additional Inherited Members
Static Public Member Functions inherited from gtsam::LieGroup< Pose2, 3 >
static TangentVector	LocalCoordinates (const Pose2 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity. More...

static TangentVector	LocalCoordinates (const Pose2 &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative. More...

static Pose2	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity. More...

static Pose2	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative. More...

Detailed Description

Definition at line 36 of file Pose2.h.

Member Typedef Documentation

typedef Rot2 gtsam::Pose2::Rotation

Pose Concept requirements

Definition at line 41 of file Pose2.h.

typedef Point2 gtsam::Pose2::Translation

Definition at line 42 of file Pose2.h.

Constructor & Destructor Documentation

gtsam::Pose2::Pose2 ( )

inline

default constructor = origin

Definition at line 55 of file Pose2.h.

gtsam::Pose2::Pose2 ( const Pose2 & pose )

inline

copy constructor

Definition at line 60 of file Pose2.h.

gtsam::Pose2::Pose2	(	double	x,
		double	y,
		double	theta
	)

inline

construct from (x,y,theta)

Parameters

x	x coordinate
y	y coordinate
theta	angle with positive X-axis

Definition at line 68 of file Pose2.h.

gtsam::Pose2::Pose2	(	double	theta,
		const Point2 &	t
	)

inline

construct from rotation and translation

Definition at line 73 of file Pose2.h.

gtsam::Pose2::Pose2	(	const Rot2 &	r,
		const Point2 &	t
	)

inline

construct from r,t

Definition at line 78 of file Pose2.h.

gtsam::Pose2::Pose2 ( const Matrix & T )

inline

Constructor from 3*3 matrix

Definition at line 81 of file Pose2.h.

gtsam::Pose2::Pose2 ( const Vector & v )

inline

Construct from canonical coordinates $[T_x,T_y,\theta]$ (Lie algebra)

Definition at line 91 of file Pose2.h.

Member Function Documentation

Vector3 gtsam::Pose2::Adjoint ( const Vector3 & xi ) const

inline

Apply AdjointMap to twist xi.

Definition at line 137 of file Pose2.h.

static Vector3 gtsam::Pose2::adjoint	(	const Vector3 &	xi,
		const Vector3 &	y
	)

inlinestatic

Action of the adjointMap on a Lie-algebra vector y, with optional derivatives

Definition at line 149 of file Pose2.h.

static Vector3 gtsam::Pose2::adjoint_	(	const Vector3 &	xi,
		const Vector3 &	y
	)

inlinestatic

Definition at line 162 of file Pose2.h.

Matrix3 gtsam::Pose2::AdjointMap ( ) const

Calculate Adjoint map Ad_pose is 3*3 matrix that when applied to twist xi $[T_x,T_y,\theta]$ , returns Ad_pose(xi)

Definition at line 126 of file Pose2.cpp.

Matrix3 gtsam::Pose2::adjointMap ( const Vector3 & v )

static

Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19

Definition at line 137 of file Pose2.cpp.

static Matrix3 gtsam::Pose2::adjointMap_ ( const Vector3 & xi )

inlinestatic

Definition at line 161 of file Pose2.h.

static Vector3 gtsam::Pose2::adjointTranspose	(	const Vector3 &	xi,
		const Vector3 &	y
	)

inlinestatic

The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.

Definition at line 156 of file Pose2.h.

Rot2 gtsam::Pose2::bearing	(	const Point2 &	point,
		OptionalJacobian< 1, 3 >	H1 = `boost::none`,
		OptionalJacobian< 1, 2 >	H2 = `boost::none`
	)		const

Calculate bearing to a landmark

Parameters

point 2D location of landmark

Returns: 2D rotation $\in SO(2)$

Definition at line 228 of file Pose2.cpp.

Rot2 gtsam::Pose2::bearing	(	const Pose2 &	pose,
		OptionalJacobian< 1, 3 >	H1 = `boost::none`,
		OptionalJacobian< 1, 3 >	H2 = `boost::none`
	)		const

Calculate bearing to another pose

Parameters

point SO(2) location of other pose

Returns: 2D rotation $\in SO(2)$

Definition at line 242 of file Pose2.cpp.

bool gtsam::Pose2::equals	(	const Pose2 &	pose,
		double	tol = `1e-9`
	)		const

assert equality up to a tolerance

Definition at line 61 of file Pose2.cpp.

Pose2 gtsam::Pose2::Expmap	(	const Vector3 &	xi,
		ChartJacobian	H = `boost::none`
	)

static

Exponential map at identity - create a rotation from canonical coordinates $[T_x,T_y,\theta]$ .

Definition at line 66 of file Pose2.cpp.

Matrix3 gtsam::Pose2::ExpmapDerivative ( const Vector3 & v )

static

Derivative of Expmap.

Definition at line 148 of file Pose2.cpp.

static Pose2 gtsam::Pose2::identity ( )

inlinestatic

identity for group operation

Definition at line 110 of file Pose2.h.

Pose2 gtsam::Pose2::inverse ( ) const

inverse

Definition at line 201 of file Pose2.cpp.

Vector3 gtsam::Pose2::Logmap	(	const Pose2 &	p,
		ChartJacobian	H = `boost::none`
	)

static

Log map at identity - return the canonical coordinates $[T_x,T_y,\theta]$ of this rotation.

Definition at line 82 of file Pose2.cpp.

Matrix3 gtsam::Pose2::LogmapDerivative ( const Pose2 & v )

static

Derivative of Logmap.

Definition at line 179 of file Pose2.cpp.

Matrix3 gtsam::Pose2::matrix ( ) const

Definition at line 36 of file Pose2.cpp.

Pose2 gtsam::Pose2::operator* ( const Pose2 & p2 ) const

inline

compose syntactic sugar

Definition at line 116 of file Pose2.h.

Point2 gtsam::Pose2::operator* ( const Point2 & point ) const

inline

syntactic sugar for transformFrom

Definition at line 208 of file Pose2.h.

void gtsam::Pose2::print ( const std::string & s = "" ) const

print with optional string

Definition at line 50 of file Pose2.cpp.

const Rot2& gtsam::Pose2::r ( ) const

inline

rotation

Definition at line 227 of file Pose2.h.

double gtsam::Pose2::range	(	const Point2 &	point,
		OptionalJacobian< 1, 3 >	H1 = `boost::none`,
		OptionalJacobian< 1, 2 >	H2 = `boost::none`
	)		const

Calculate range to a landmark

Parameters

point 2D location of landmark

Returns: range (double)

Definition at line 253 of file Pose2.cpp.

double gtsam::Pose2::range	(	const Pose2 &	point,
		OptionalJacobian< 1, 3 >	H1 = `boost::none`,
		OptionalJacobian< 1, 3 >	H2 = `boost::none`
	)		const

Calculate range to another pose

Parameters

point 2D location of other pose

Returns: range (double)

Definition at line 270 of file Pose2.cpp.

const Rot2& gtsam::Pose2::rotation ( ) const

inline

rotation

Definition at line 233 of file Pose2.h.

static std::pair<size_t, size_t> gtsam::Pose2::rotationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

Definition at line 288 of file Pose2.h.

template<class Archive >

void gtsam::Pose2::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 301 of file Pose2.h.

const Point2& gtsam::Pose2::t ( ) const

inline

translation

Definition at line 224 of file Pose2.h.

double gtsam::Pose2::theta ( ) const

inline

get theta

Definition at line 221 of file Pose2.h.

Point2 gtsam::Pose2::transformFrom	(	const Point2 &	point,
		OptionalJacobian< 2, 3 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 2 >	Dpoint = `boost::none`
	)		const

Return point coordinates in global frame

Definition at line 218 of file Pose2.cpp.

Point2 gtsam::Pose2::transformTo	(	const Point2 &	point,
		OptionalJacobian< 2, 3 >	Dpose = `boost::none`,
		OptionalJacobian< 2, 2 >	Dpoint = `boost::none`
	)		const

Return point coordinates in pose coordinate frame

Definition at line 207 of file Pose2.cpp.

const Point2& gtsam::Pose2::translation ( ) const

inline

translation

Definition at line 230 of file Pose2.h.

static std::pair<size_t, size_t> gtsam::Pose2::translationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

Definition at line 281 of file Pose2.h.

static Matrix3 gtsam::Pose2::wedge	(	double	vx,
		double	vy,
		double	w
	)

inlinestatic

wedge for SE(2):

Parameters

xi	3-dim twist (v,omega) where omega is angular velocity v (vx,vy) = 2D velocity

Returns: xihat, 3*3 element of Lie algebra that can be exponentiated

Definition at line 171 of file Pose2.h.

double gtsam::Pose2::x ( ) const

inline

get x

Definition at line 215 of file Pose2.h.

double gtsam::Pose2::y ( ) const

inline

get y

Definition at line 218 of file Pose2.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 299 of file Pose2.h.

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Pose2 &	p
	)

friend

Output stream operator.

Definition at line 55 of file Pose2.cpp.

Member Data Documentation

Rot2 gtsam::Pose2::r_

private

Definition at line 46 of file Pose2.h.

Point2 gtsam::Pose2::t_

private

Definition at line 47 of file Pose2.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Group

Lie Group

Advanced Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation