#include <Rot2.h>

Inheritance diagram for gtsam::Rot2:

Classes
struct	ChartAtOrigin

Public Member Functions
Testable
void	print (const std::string &s="theta") const

bool	equals (const Rot2 &R, double tol=1e-9) const

Group Action on Point2
Point2	rotate (const Point2 &p, OptionalJacobian< 2, 1 > H1=boost::none, OptionalJacobian< 2, 2 > H2=boost::none) const

Point2	operator* (const Point2 &p) const

Point2	unrotate (const Point2 &p, OptionalJacobian< 2, 1 > H1=boost::none, OptionalJacobian< 2, 2 > H2=boost::none) const

Public Member Functions inherited from gtsam::LieGroup< Rot2, 1 >
Rot2	between (const Rot2 &g) const

Rot2	between (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

Rot2	compose (const Rot2 &g) const

Rot2	compose (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

const Rot2 &	derived () const

Rot2	expmap (const TangentVector &v) const

Rot2	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	expmap with optional derivatives More...

Rot2	inverse (ChartJacobian H) const

TangentVector	localCoordinates (const Rot2 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g More...

TangentVector	localCoordinates (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	localCoordinates with optional derivatives More...

TangentVector	logmap (const Rot2 &g) const

TangentVector	logmap (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	logmap with optional derivatives More...

Rot2	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this More...

Rot2	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	retract with optional derivatives More...

Private Member Functions
Rot2 &	normalize ()

	Rot2 (double c, double s)

Private Attributes
double	c_

double	s_

Constructors and named constructors
	Rot2 ()

	Rot2 (double theta)
	Constructor from angle in radians == exponential map at identity. More...

static Rot2	fromAngle (double theta)
	Named constructor from angle in radians. More...

static Rot2	fromDegrees (double theta)
	Named constructor from angle in degrees. More...

static Rot2	fromCosSin (double c, double s)
	Named constructor from cos(theta),sin(theta) pair, will not normalize! More...

static Rot2	relativeBearing (const Point2 &d, OptionalJacobian< 1, 2 > H=boost::none)

static Rot2	atan2 (double y, double x)

static Rot2	Random (std::mt19937 &rng)

Group
Rot2	inverse () const

Rot2	operator* (const Rot2 &R) const

static Rot2	identity ()

Lie Group
Matrix1	AdjointMap () const

static Rot2	Expmap (const Vector1 &v, ChartJacobian H=boost::none)
	Exponential map at identity - create a rotation from canonical coordinates. More...

static Vector1	Logmap (const Rot2 &r, ChartJacobian H=boost::none)
	Log map at identity - return the canonical coordinates of this rotation. More...

static Matrix	ExpmapDerivative (const Vector &)
	Left-trivialized derivative of the exponential map. More...

static Matrix	LogmapDerivative (const Vector &)
	Left-trivialized derivative inverse of the exponential map. More...

Standard Interface
class	boost::serialization::access

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Point2	unit () const
	Creates a unit vector as a Point2. More...

double	theta () const

double	degrees () const

double	c () const

double	s () const

Matrix2	matrix () const

Matrix2	transpose () const

Additional Inherited Members
Public Types inherited from gtsam::LieGroup< Rot2, 1 >
enum

typedef OptionalJacobian< N, N >	ChartJacobian

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

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

Static Public Member Functions inherited from gtsam::LieGroup< Rot2, 1 >
static TangentVector	LocalCoordinates (const Rot2 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity. More...

static TangentVector	LocalCoordinates (const Rot2 &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative. More...

static Rot2	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity. More...

static Rot2	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative. More...

Detailed Description

Definition at line 35 of file Rot2.h.

Constructor & Destructor Documentation

gtsam::Rot2::Rot2	(	double	c,
		double	s
	)

inlineprivate

private constructor from cos/sin

Definition at line 44 of file Rot2.h.

gtsam::Rot2::Rot2 ( )

inline

default constructor, zero rotation

Definition at line 52 of file Rot2.h.

gtsam::Rot2::Rot2 ( double theta )

inline

Constructor from angle in radians == exponential map at identity.

Definition at line 55 of file Rot2.h.

Member Function Documentation

Matrix1 gtsam::Rot2::AdjointMap ( ) const

inline

Calculate Adjoint map

Definition at line 128 of file Rot2.h.

Rot2 gtsam::Rot2::atan2	(	double	y,
		double	x
	)

static

Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes

Definition at line 37 of file Rot2.cpp.

double gtsam::Rot2::c ( ) const

inline

return cos

Definition at line 194 of file Rot2.h.

double gtsam::Rot2::degrees ( ) const

inline

return angle (DEGREES)

Definition at line 188 of file Rot2.h.

bool gtsam::Rot2::equals	(	const Rot2 &	R,
		double	tol = `1e-9`
	)		const

equals with an tolerance

Definition at line 55 of file Rot2.cpp.

Rot2 gtsam::Rot2::Expmap	(	const Vector1 &	v,
		ChartJacobian	H = `boost::none`
	)

static

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

Definition at line 71 of file Rot2.cpp.

static Matrix gtsam::Rot2::ExpmapDerivative ( const Vector & )

inlinestatic

Left-trivialized derivative of the exponential map.

Definition at line 131 of file Rot2.h.

static Rot2 gtsam::Rot2::fromAngle ( double theta )

inlinestatic

Named constructor from angle in radians.

Definition at line 58 of file Rot2.h.

Rot2 gtsam::Rot2::fromCosSin	(	double	c,
		double	s
	)

static

Named constructor from cos(theta),sin(theta) pair, will not normalize!

Definition at line 27 of file Rot2.cpp.

static Rot2 gtsam::Rot2::fromDegrees ( double theta )

inlinestatic

Named constructor from angle in degrees.

Definition at line 63 of file Rot2.h.

static Rot2 gtsam::Rot2::identity ( )

inlinestatic

identity

Definition at line 107 of file Rot2.h.

Rot2 gtsam::Rot2::inverse ( ) const

inline

The inverse rotation - negative angle

Definition at line 110 of file Rot2.h.

Vector1 gtsam::Rot2::Logmap	(	const Rot2 &	r,
		ChartJacobian	H = `boost::none`
	)

static

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

Definition at line 81 of file Rot2.cpp.

static Matrix gtsam::Rot2::LogmapDerivative ( const Vector & )

inlinestatic

Left-trivialized derivative inverse of the exponential map.

Definition at line 136 of file Rot2.h.

Matrix2 gtsam::Rot2::matrix ( ) const

return 2*2 rotation matrix

Definition at line 89 of file Rot2.cpp.

Rot2 & gtsam::Rot2::normalize ( void )

private

normalize to make sure cos and sin form unit vector

Definition at line 60 of file Rot2.cpp.

Rot2 gtsam::Rot2::operator* ( const Rot2 & R ) const

inline

Compose - make a new rotation by adding angles

Definition at line 113 of file Rot2.h.

Point2 gtsam::Rot2::operator* ( const Point2 & p ) const

inline

syntactic sugar for rotate

Definition at line 163 of file Rot2.h.

void gtsam::Rot2::print ( const std::string & s = "theta" ) const

print

Definition at line 50 of file Rot2.cpp.

Rot2 gtsam::Rot2::Random ( std::mt19937 & rng )

static

Random, generates random angle [-p,pi] Example: std::mt19937 engine(42); Unit3 unit = Unit3::Random(engine);

Definition at line 43 of file Rot2.cpp.

Rot2 gtsam::Rot2::relativeBearing	(	const Point2 &	d,
		OptionalJacobian< 1, 2 >	H = `boost::none`
	)

static

Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame

Parameters

d	2D location of landmark
H	optional reference for Jacobian

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

Definition at line 123 of file Rot2.cpp.

Point2 gtsam::Rot2::rotate	(	const Point2 &	p,
		OptionalJacobian< 2, 1 >	H1 = `boost::none`,
		OptionalJacobian< 2, 2 >	H2 = `boost::none`
	)		const

rotate point from rotated coordinate frame to world $ p^w = R_c^w p^c $

Definition at line 104 of file Rot2.cpp.

double gtsam::Rot2::s ( ) const

inline

return sin

Definition at line 199 of file Rot2.h.

template<class ARCHIVE >

void gtsam::Rot2::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 213 of file Rot2.h.

double gtsam::Rot2::theta ( ) const

inline

return angle (RADIANS)

Definition at line 183 of file Rot2.h.

Matrix2 gtsam::Rot2::transpose ( ) const

return 2*2 transpose (inverse) rotation matrix

Definition at line 96 of file Rot2.cpp.

Point2 gtsam::Rot2::unit ( ) const

inline

Creates a unit vector as a Point2.

Definition at line 178 of file Rot2.h.

Point2 gtsam::Rot2::unrotate	(	const Point2 &	p,
		OptionalJacobian< 2, 1 >	H1 = `boost::none`,
		OptionalJacobian< 2, 2 >	H2 = `boost::none`
	)		const

rotate point from world to rotated frame $ p^c = (R_c^w)^T p^w $

Definition at line 114 of file Rot2.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 211 of file Rot2.h.

Member Data Documentation

double gtsam::Rot2::c_

private

we store cos(theta) and sin(theta)

Definition at line 38 of file Rot2.h.

double gtsam::Rot2::s_

private

Definition at line 38 of file Rot2.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Constructors and named constructors

Group

Lie Group

Standard Interface

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation