OrientedPlane3.h
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5  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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11 
12 /*
13  * @file OrientedPlane3.h
14  * @date Dec 19, 2013
15  * @author Alex Trevor
16  * @author Frank Dellaert
17  * @author Zhaoyang Lv
18  * @brief An infinite plane, represented by a normal direction and perpendicular distance
19  */
20 
21 #pragma once
22 
23 #include <gtsam/geometry/Unit3.h>
24 #include <gtsam/geometry/Pose3.h>
25 #include <string>
26 
27 namespace gtsam {
28 
36 class GTSAM_EXPORT OrientedPlane3 {
37 private:
39  double d_;
40 
41 public:
42  enum {
43  dimension = 3
44  };
45 
48 
51  n_(), d_(0.0) {
52  }
53 
55  OrientedPlane3(const Unit3& n, double d) :
56  n_(n), d_(d) {
57  }
58 
60  explicit OrientedPlane3(const Vector4& vec)
61  : n_(vec(0), vec(1), vec(2)), d_(vec(3)) {}
62 
64  OrientedPlane3(double a, double b, double c, double d) {
65  n_ = Unit3(a, b, c);
66  d_ = d;
67  }
68 
72 
74  void print(const std::string& s = std::string()) const;
75 
77  bool equals(const OrientedPlane3& s, double tol = 1e-9) const {
78  return (n_.equals(s.n_, tol) && (std::abs(d_ - s.d_) < tol));
79  }
80 
82 
89  OrientedPlane3 transform(const Pose3& xr,
90  OptionalJacobian<3, 3> Hp = {},
91  OptionalJacobian<3, 6> Hr = {}) const;
92 
100  Vector3 errorVector(const OrientedPlane3& other,
101  OptionalJacobian<3, 3> H1 = {},
102  OptionalJacobian<3, 3> H2 = {}) const;
103 
105  inline static size_t Dim() {
106  return 3;
107  }
108 
110  inline size_t dim() const {
111  return 3;
112  }
113 
115  OrientedPlane3 retract(const Vector3& v,
116  OptionalJacobian<3, 3> H = {}) const;
117 
119  Vector3 localCoordinates(const OrientedPlane3& s) const;
120 
122  inline Vector4 planeCoefficients() const {
123  Vector3 unit_vec = n_.unitVector();
124  return Vector4(unit_vec[0], unit_vec[1], unit_vec[2], d_);
125  }
126 
128  inline Unit3 normal(OptionalJacobian<2, 3> H = {}) const {
129  if (H) *H << I_2x2, Z_2x1;
130  return n_;
131  }
132 
134  inline double distance(OptionalJacobian<1, 3> H = {}) const {
135  if (H) *H << 0,0,1;
136  return d_;
137  }
138 };
139 
140 template<> struct traits<OrientedPlane3> : public internal::Manifold<
141 OrientedPlane3> {
142 };
143 
144 template<> struct traits<const OrientedPlane3> : public internal::Manifold<
145 OrientedPlane3> {
146 };
147 
148 } // namespace gtsam
149 
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
size_t dim() const
Dimensionality of tangent space = 3 DOF.
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
Eigen::Vector3d Vector3
Definition: Vector.h:43
OrientedPlane3(const Unit3 &n, double d)
Construct from a Unit3 and a distance.
bool equals(const Unit3 &s, double tol=1e-9) const
The equals function with tolerance.
Definition: Unit3.h:114
Vector3 unitVector(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Vector.
Definition: Unit3.cpp:151
int n
Scalar Scalar * c
Definition: benchVecAdd.cpp:17
bool equals(const OrientedPlane3 &s, double tol=1e-9) const
The equals function with tolerance.
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OrientedPlane3()
Default constructor.
static size_t Dim()
Dimensionality of tangent space = 3 DOF.
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
double distance(OptionalJacobian< 1, 3 > H={}) const
Return the perpendicular distance to the origin.
Represents a 3D point on a unit sphere.
Definition: Unit3.h:42
double d_
The perpendicular distance to this plane.
OrientedPlane3(double a, double b, double c, double d)
Construct from four numbers of plane coeffcients (a, b, c, d)
Array< int, Dynamic, 1 > v
Array< double, 1, 3 > e(1./3., 0.5, 2.)
RealScalar s
EIGEN_DONT_INLINE void transform(const Transformation &t, Data &data)
Definition: geometry.cpp:25
const G & b
Definition: Group.h:86
traits
Definition: chartTesting.h:28
Unit3 normal(OptionalJacobian< 2, 3 > H={}) const
Return the normal.
Vector4 planeCoefficients() const
Returns the plane coefficients.
const G double tol
Definition: Group.h:86
Unit3 n_
The direction of the planar normal.
#define abs(x)
Definition: datatypes.h:17
3D Pose
OrientedPlane3(const Vector4 &vec)
Construct from a vector of plane coefficients.
static const Eigen::MatrixBase< Vector2 >::ConstantReturnType Z_2x1
Definition: Vector.h:45


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