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20 *H1 << I_3x3, Matrix23::Zero();
22 *H2 << Matrix32::Zero(), I_2x2;
39 Matrix23 D_direction_1T2;
40 Unit3 direction = Unit3::FromPoint3(
aTb, D_direction_1T2);
42 Matrix23::Zero(), D_direction_1T2 *
aRb.matrix();
51 direction().print(
"d: ");
90 Matrix23::Zero(), D_c1Tc2_aTb;
93 "EssentialMatrix::rotate: derivative HR not implemented yet");
110 * direction().basis();
121 os <<
R.xyz().transpose() <<
" " <<
d.point3().transpose() <<
" ";
127 double rx, ry, rz, dx, dy, dz;
128 is >> rx >> ry >> rz;
129 is >> dx >> dy >> dz;
132 Rot3 rot = Rot3::RzRyRx(rx, ry, rz);
Rot3 rotation(const Pose3 &pose, OptionalJacobian< 3, 6 > H)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange[*:*] noreverse nowriteback set trange[*:*] noreverse nowriteback set urange[*:*] noreverse nowriteback set vrange[*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
EIGEN_STRONG_INLINE Packet4f print(const Packet4f &a)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
void print(const std::string &s="") const
static const double d[K][N]
static const Point3 point3(0.08, 0.08, 0.0)
ofstream os("timeSchurFactors.csv")
Matrix3 skewSymmetric(double wx, double wy, double wz)
int EIGEN_BLAS_FUNC() rot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy, RealScalar *pc, RealScalar *ps)
Scalar EIGEN_BLAS_FUNC() dot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
Point3 rotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
EIGEN_DEVICE_FUNC const Scalar & q
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Rot3 conjugate(const Rot3 &cRb) const
ostream & operator<<(ostream &os, const EssentialMatrix &E)
const Point3 & translation(OptionalJacobian< 3, 6 > Hself={}) const
get translation
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself={}) const
get rotation
Matrix3 transpose() const
Represents a 3D point on a unit sphere.
istream & operator>>(istream &is, EssentialMatrix &E)
P rotate(const T &r, const P &pt)
Rot2 R(Rot2::fromAngle(0.1))
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:16