gtsam.utils.circlePose3 Namespace Reference

Functions
def	circlePose3 (numPoses=8, radius=1.0, symbolChar='\0')

Function Documentation

def gtsam.utils.circlePose3.circlePose3	(		numPoses = 8,
			radius = 1.0,
			symbolChar = '\0'
	)

circlePose3 generates a set of poses in a circle. This function
returns those poses inside a gtsam.Values object, with sequential
keys starting from 0. An optional character may be provided, which
will be stored in the msb of each key (i.e. gtsam.Symbol).

We use aerospace/navlab convention, X forward, Y right, Z down
First pose will be at (R,0,0)
^y   ^ X
|    |
z-->xZ--> Y  (z pointing towards viewer, Z pointing away from viewer)
Vehicle at p0 is looking towards y axis (X-axis points towards world y)

Definition at line 7 of file circlePose3.py.