Static Public Attributes | Protected Attributes | List of all members
gtsam::Pose3Upright Class Reference

#include <Pose3Upright.h>

Static Public Attributes

static const size_t dimension = 4
 

Protected Attributes

Pose2 T_
 
double z_
 

Standard Constructors

 Pose3Upright ()
 Default constructor initializes at origin. More...
 
 Pose3Upright (const Pose3Upright &x)
 Copy constructor. More...
 
 Pose3Upright (const Rot2 &bearing, const Point3 &t)
 
 Pose3Upright (double x, double y, double z, double theta)
 
 Pose3Upright (const Pose2 &pose, double z)
 
 Pose3Upright (const Pose3 &fullpose)
 Down-converts from a full Pose3. More...
 

Testable

void print (const std::string &s="") const
 
bool equals (const Pose3Upright &pose, double tol=1e-9) const
 

Standard Interface

double x () const
 
double y () const
 
double z () const
 
double theta () const
 
Point2 translation2 () const
 
Point3 translation () const
 
Rot2 rotation2 () const
 
Rot3 rotation () const
 
Pose2 pose2 () const
 
Pose3 pose () const
 

Manifold

size_t dim () const
 Dimensionality of tangent space = 4 DOF. More...
 
Pose3Upright retract (const Vector &v) const
 
Vector localCoordinates (const Pose3Upright &p2) const
 Local 3D coordinates of Pose3Upright manifold neighborhood around current pose. More...
 
static size_t Dim ()
 Dimensionality of tangent space = 4 DOF - used to autodetect sizes. More...
 

Group

Pose3Upright inverse (OptionalJacobian< 4, 4 > H1={}) const
 inverse transformation with derivatives More...
 
Pose3Upright compose (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
 compose this transformation onto another (first *this and then p2) More...
 
Pose3Upright operator* (const Pose3Upright &T) const
 compose syntactic sugar More...
 
Pose3Upright between (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const
 
static Pose3Upright Identity ()
 identity for group operation More...
 

Lie Group

static Pose3Upright Expmap (const Vector &xi)
 Exponential map at identity - create a rotation from canonical coordinates. More...
 
static Vector Logmap (const Pose3Upright &p)
 Log map at identity - return the canonical coordinates of this rotation. More...
 

Detailed Description

A 3D Pose with fixed pitch and roll

Definition at line 25 of file Pose3Upright.h.

Constructor & Destructor Documentation

◆ Pose3Upright() [1/6]

gtsam::Pose3Upright::Pose3Upright ( )
inline

Default constructor initializes at origin.

Definition at line 39 of file Pose3Upright.h.

◆ Pose3Upright() [2/6]

gtsam::Pose3Upright::Pose3Upright ( const Pose3Upright x)
inline

Copy constructor.

Definition at line 42 of file Pose3Upright.h.

◆ Pose3Upright() [3/6]

gtsam::Pose3Upright::Pose3Upright ( const Rot2 bearing,
const Point3 t 
)

Definition at line 19 of file Pose3Upright.cpp.

◆ Pose3Upright() [4/6]

gtsam::Pose3Upright::Pose3Upright ( double  x,
double  y,
double  z,
double  theta 
)

Definition at line 25 of file Pose3Upright.cpp.

◆ Pose3Upright() [5/6]

gtsam::Pose3Upright::Pose3Upright ( const Pose2 pose,
double  z 
)

Definition at line 31 of file Pose3Upright.cpp.

◆ Pose3Upright() [6/6]

gtsam::Pose3Upright::Pose3Upright ( const Pose3 fullpose)

Down-converts from a full Pose3.

Definition at line 37 of file Pose3Upright.cpp.

Member Function Documentation

◆ between()

Pose3Upright gtsam::Pose3Upright::between ( const Pose3Upright p2,
OptionalJacobian< 4, 4 >  H1 = {},
OptionalJacobian< 4, 4 >  H2 = {} 
) const

Return relative pose between p1 and p2, in p1 coordinate frame as well as optionally the derivatives

Definition at line 118 of file Pose3Upright.cpp.

◆ compose()

Pose3Upright gtsam::Pose3Upright::compose ( const Pose3Upright p2,
OptionalJacobian< 4, 4 >  H1 = {},
OptionalJacobian< 4, 4 >  H2 = {} 
) const

compose this transformation onto another (first *this and then p2)

Definition at line 99 of file Pose3Upright.cpp.

◆ Dim()

static size_t gtsam::Pose3Upright::Dim ( )
inlinestatic

Dimensionality of tangent space = 4 DOF - used to autodetect sizes.

Definition at line 81 of file Pose3Upright.h.

◆ dim()

size_t gtsam::Pose3Upright::dim ( ) const
inline

Dimensionality of tangent space = 4 DOF.

Definition at line 84 of file Pose3Upright.h.

◆ equals()

bool gtsam::Pose3Upright::equals ( const Pose3Upright pose,
double  tol = 1e-9 
) const

assert equality up to a tolerance

Definition at line 48 of file Pose3Upright.cpp.

◆ Expmap()

Pose3Upright gtsam::Pose3Upright::Expmap ( const Vector xi)
static

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

Definition at line 152 of file Pose3Upright.cpp.

◆ Identity()

static Pose3Upright gtsam::Pose3Upright::Identity ( )
inlinestatic

identity for group operation

Definition at line 98 of file Pose3Upright.h.

◆ inverse()

Pose3Upright gtsam::Pose3Upright::inverse ( OptionalJacobian< 4, 4 >  H1 = {}) const

inverse transformation with derivatives

Definition at line 83 of file Pose3Upright.cpp.

◆ localCoordinates()

Vector gtsam::Pose3Upright::localCoordinates ( const Pose3Upright p2) const

Local 3D coordinates of Pose3Upright manifold neighborhood around current pose.

Definition at line 144 of file Pose3Upright.cpp.

◆ Logmap()

Vector gtsam::Pose3Upright::Logmap ( const Pose3Upright p)
static

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

Definition at line 159 of file Pose3Upright.cpp.

◆ operator*()

Pose3Upright gtsam::Pose3Upright::operator* ( const Pose3Upright T) const
inline

compose syntactic sugar

Definition at line 109 of file Pose3Upright.h.

◆ pose()

Pose3 gtsam::Pose3Upright::pose ( ) const

Definition at line 78 of file Pose3Upright.cpp.

◆ pose2()

Pose2 gtsam::Pose3Upright::pose2 ( ) const

Definition at line 73 of file Pose3Upright.cpp.

◆ print()

void gtsam::Pose3Upright::print ( const std::string &  s = "") const

print with optional string

Definition at line 43 of file Pose3Upright.cpp.

◆ retract()

Pose3Upright gtsam::Pose3Upright::retract ( const Vector v) const

Retraction from R^4 to Pose3Upright manifold neighborhood around current pose Tangent space parameterization is [x y z theta]

Definition at line 137 of file Pose3Upright.cpp.

◆ rotation()

Rot3 gtsam::Pose3Upright::rotation ( ) const

Definition at line 68 of file Pose3Upright.cpp.

◆ rotation2()

Rot2 gtsam::Pose3Upright::rotation2 ( ) const

Definition at line 63 of file Pose3Upright.cpp.

◆ theta()

double gtsam::Pose3Upright::theta ( ) const
inline

Definition at line 67 of file Pose3Upright.h.

◆ translation()

Point3 gtsam::Pose3Upright::translation ( ) const

Definition at line 53 of file Pose3Upright.cpp.

◆ translation2()

Point2 gtsam::Pose3Upright::translation2 ( ) const

Definition at line 58 of file Pose3Upright.cpp.

◆ x()

double gtsam::Pose3Upright::x ( ) const
inline

Definition at line 64 of file Pose3Upright.h.

◆ y()

double gtsam::Pose3Upright::y ( ) const
inline

Definition at line 65 of file Pose3Upright.h.

◆ z()

double gtsam::Pose3Upright::z ( ) const
inline

Definition at line 66 of file Pose3Upright.h.

Member Data Documentation

◆ dimension

const size_t gtsam::Pose3Upright::dimension = 4
static

Definition at line 27 of file Pose3Upright.h.

◆ T_

Pose2 gtsam::Pose3Upright::T_
protected

Definition at line 31 of file Pose3Upright.h.

◆ z_

double gtsam::Pose3Upright::z_
protected

Definition at line 32 of file Pose3Upright.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:06