#include <Line3.h>

Public Types
enum	{ dimension = 4 }

Public Member Functions
double	a () const

double	b () const

bool	equals (const Line3 &l2, double tol=10e-9) const

	Line3 ()

	Line3 (const Rot3 &R, const double a, const double b)

Vector4	localCoordinates (const Line3 &q, OptionalJacobian< 4, 4 > Dp={}, OptionalJacobian< 4, 4 > Dq={}) const

Point3	point (double distance=0) const

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

Unit3	project (OptionalJacobian< 2, 4 > Dline={}) const

Rot3	R () const

Line3	retract (const Vector4 &v, OptionalJacobian< 4, 4 > Dp={}, OptionalJacobian< 4, 4 > Dv={}) const

Private Attributes
double	a_

double	b_

Rot3	R_

Friends
Line3	transformTo (const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)

Detailed Description

A 3D line (R,a,b) : (Rot3,Scalar,Scalar)

Definition at line 44 of file Line3.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
dimension

Definition at line 50 of file Line3.h.

Constructor & Destructor Documentation

◆ Line3() [1/2]

gtsam::Line3::Line3 ( )

inline

Default constructor is the Z axis

Definition at line 53 of file Line3.h.

◆ Line3() [2/2]

gtsam::Line3::Line3	(	const Rot3 &	R,
		const double	a,
		const double	b
	)

inline

Constructor for general line from (R, a, b)

Definition at line 57 of file Line3.h.

Member Function Documentation

◆ a()

double gtsam::Line3::a ( ) const

inline

Return the x-coordinate of the intersection of the line with the xy plane.

Definition at line 130 of file Line3.h.

◆ b()

double gtsam::Line3::b ( ) const

inline

Return the y-coordinate of the intersection of the line with the xy plane.

Definition at line 137 of file Line3.h.

◆ equals()

bool gtsam::Line3::equals	(	const Line3 &	l2,
		double	tol = `10e-9`
	)		const

Check if two lines are equal

Parameters

l2	- line to be compared
tol	: optional tolerance

Returns: boolean - true if lines are equal

Definition at line 55 of file Line3.cpp.

◆ localCoordinates()

Vector4 gtsam::Line3::localCoordinates	(	const Line3 &	q,
		OptionalJacobian< 4, 4 >	Dp = `{}`,
		OptionalJacobian< 4, 4 >	Dq = `{}`
	)		const

The localCoordinates method is the inverse of retract and finds the difference between two lines in the tangent space. It computes v = q - p where q is an input line, p is this line and v is their difference in the tangent space.

Parameters

q	Line3 on manifold
Dp	OptionalJacobian of localCoordinates with respect to this line
Dq	OptionalJacobian of localCoordinates with respect to this line

Returns: v: difference in the tangent space

Definition at line 27 of file Line3.cpp.

◆ point()

Point3 gtsam::Line3::point ( double distance = 0 ) const

Returns point on the line that is at a certain distance starting from the point where the rotated XY axis intersects the line.

Parameters

distance (can be positive or negative) - positive is the positive direction of the rotated z axis that forms the line. The default value of zero returns the point where the rotated XY axis intersects the line.

Returns: Point on the line

Definition at line 86 of file Line3.cpp.

◆ print()

void gtsam::Line3::print ( const std::string & s = "" ) const

Print R, a, b

Parameters

s	optional starting string

Definition at line 49 of file Line3.cpp.

◆ project()

Unit3 gtsam::Line3::project ( OptionalJacobian< 2, 4 > Dline = {} ) const

Projecting a line to the image plane. Assumes this line is in camera frame.

Parameters

Dline OptionalJacobian of projected line with respect to this line

Returns: Unit3 - projected line in image plane, in homogenous coordinates. We use Unit3 since it is a manifold with the right dimension.

Definition at line 61 of file Line3.cpp.

◆ R()

Rot3 gtsam::Line3::R ( ) const

inline

Return the rotation of the line.

Definition at line 123 of file Line3.h.

◆ retract()

Line3 gtsam::Line3::retract	(	const Vector4 &	v,
		OptionalJacobian< 4, 4 >	Dp = `{}`,
		OptionalJacobian< 4, 4 >	Dv = `{}`
	)		const

The retract method maps from the tangent space back to the manifold. The method q = p + v, where p is this line, v is an increment along the tangent space and q is the resulting line. The tangent space for the rotation of a line is only two dimensional - rotation about x and y

Parameters

v	increment in tangent space
Dp	increment of retraction with respect to this line
Dv	Jacobian of retraction with respect to the increment

Returns: q: resulting line after adding the increment and mapping to the manifold

Definition at line 5 of file Line3.cpp.

Friends And Related Function Documentation

◆ transformTo

Line3 transformTo	(	const Pose3 &	wTc,
		const Line3 &	wL,
		OptionalJacobian< 4, 6 >	Dpose,
		OptionalJacobian< 4, 4 >	Dline
	)

friend

Transform a line from world to camera frame

Parameters

wTc	- Pose3 of camera in world frame
wL	- Line3 in world frame
Dpose	- OptionalJacobian of transformed line with respect to p
Dline	- OptionalJacobian of transformed line with respect to l

Returns: Transformed line in camera frame

Definition at line 94 of file Line3.cpp.

Member Data Documentation

◆ a_

double gtsam::Line3::a_

private

Definition at line 47 of file Line3.h.

◆ b_

double gtsam::Line3::b_

private

Definition at line 47 of file Line3.h.

◆ R_

Rot3 gtsam::Line3::R_

private

Definition at line 46 of file Line3.h.

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

Public Types

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Line3() [1/2]

◆ Line3() [2/2]

Member Function Documentation

◆ a()

◆ b()

◆ equals()

◆ localCoordinates()

◆ point()

◆ print()

◆ project()

◆ R()

◆ retract()

Friends And Related Function Documentation

◆ transformTo

Member Data Documentation

◆ a_

◆ b_

◆ R_