Pose2.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 // \callgraph
20 
21 #pragma once
22 
24 #include <gtsam/geometry/Point2.h>
25 #include <gtsam/geometry/Rot2.h>
26 #include <gtsam/base/Lie.h>
27 #include <gtsam/dllexport.h>
29 
30 #include <optional>
31 
32 namespace gtsam {
33 
39 class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
40 
41 public:
42 
44  typedef Rot2 Rotation;
46 
47 private:
48 
51 
52 public:
53 
56 
58  Pose2() :
59  r_(traits<Rot2>::Identity()), t_(traits<Point2>::Identity()) {
60  }
61 
63  Pose2(const Pose2& pose) : r_(pose.r_), t_(pose.t_) {}
64 
71  Pose2(double x, double y, double theta) :
72  r_(Rot2::fromAngle(theta)), t_(x, y) {
73  }
74 
76  Pose2(double theta, const Point2& t) :
77  r_(Rot2::fromAngle(theta)), t_(t) {
78  }
79 
81  Pose2(const Rot2& r, const Point2& t) : r_(r), t_(t) {}
82 
84  Pose2(const Matrix &T) :
85  r_(Rot2::atan2(T(1, 0), T(0, 0))), t_(T(0, 2), T(1, 2)) {
86  assert(T.rows() == 3 && T.cols() == 3);
87  }
88 
92 
94  Pose2(const Vector& v) : Pose2() {
95  *this = Expmap(v);
96  }
97 
105  static std::optional<Pose2> Align(const Point2Pairs& abPointPairs);
106 
107  // Version of Pose2::Align that takes 2 matrices.
108  static std::optional<Pose2> Align(const Matrix& a, const Matrix& b);
109 
113 
115  void print(const std::string& s = "") const;
116 
118  bool equals(const Pose2& pose, double tol = 1e-9) const;
119 
123 
125  inline static Pose2 Identity() { return Pose2(); }
126 
128  Pose2 inverse() const;
129 
131  inline Pose2 operator*(const Pose2& p2) const {
132  return Pose2(r_*p2.r(), t_ + r_*p2.t());
133  }
134 
138 
140  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
141 
143  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
144 
149  Matrix3 AdjointMap() const;
150 
152  inline Vector3 Adjoint(const Vector3& xi) const {
153  return AdjointMap()*xi;
154  }
155 
159  static Matrix3 adjointMap(const Vector3& v);
160 
164  static Vector3 adjoint(const Vector3& xi, const Vector3& y) {
165  return adjointMap(xi) * y;
166  }
167 
171  static Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
172  return adjointMap(xi).transpose() * y;
173  }
174 
175  // temporary fix for wrappers until case issue is resolved
176  static Matrix3 adjointMap_(const Vector3 &xi) { return adjointMap(xi);}
177  static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y) { return adjoint(xi, y);}
178 
186  static inline Matrix3 wedge(double vx, double vy, double w) {
187  Matrix3 m;
188  m << 0.,-w, vx,
189  w, 0., vy,
190  0., 0., 0.;
191  return m;
192  }
193 
195  static Matrix3 ExpmapDerivative(const Vector3& v);
196 
198  static Matrix3 LogmapDerivative(const Pose2& v);
199 
200  // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
201  struct GTSAM_EXPORT ChartAtOrigin {
202  static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
203  static Vector3 Local(const Pose2& r, ChartJacobian H = {});
204  };
205 
206  using LieGroup<Pose2, 3>::inverse; // version with derivative
207 
211 
214  OptionalJacobian<2, 3> Dpose = {},
215  OptionalJacobian<2, 2> Dpoint = {}) const;
216 
222  Matrix transformTo(const Matrix& points) const;
223 
226  OptionalJacobian<2, 3> Dpose = {},
227  OptionalJacobian<2, 2> Dpoint = {}) const;
228 
234  Matrix transformFrom(const Matrix& points) const;
235 
237  inline Point2 operator*(const Point2& point) const {
238  return transformFrom(point);
239  }
240 
244 
246  inline double x() const { return t_.x(); }
247 
249  inline double y() const { return t_.y(); }
250 
252  inline double theta() const { return r_.theta(); }
253 
255  inline const Point2& t() const { return t_; }
256 
258  inline const Rot2& r() const { return r_; }
259 
261  inline const Point2& translation(OptionalJacobian<2, 3> Hself={}) const {
262  if (Hself) {
263  *Hself = Matrix::Zero(2, 3);
264  (*Hself).block<2, 2>(0, 0) = rotation().matrix();
265  }
266  return t_;
267  }
268 
270  inline const Rot2& rotation(OptionalJacobian<1, 3> Hself={}) const {
271  if (Hself) *Hself << 0, 0, 1;
272  return r_;
273  }
274 
276  Matrix3 matrix() const;
277 
283  Rot2 bearing(const Point2& point,
284  OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
285 
291  Rot2 bearing(const Pose2& pose,
292  OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
293 
299  double range(const Point2& point,
300  OptionalJacobian<1, 3> H1={},
301  OptionalJacobian<1, 2> H2={}) const;
302 
308  double range(const Pose2& point,
309  OptionalJacobian<1, 3> H1={},
310  OptionalJacobian<1, 3> H2={}) const;
311 
315 
321  inline static std::pair<size_t, size_t> translationInterval() { return {0, 1}; }
322 
328  static std::pair<size_t, size_t> rotationInterval() { return {2, 2}; }
329 
331  GTSAM_EXPORT
332  friend std::ostream &operator<<(std::ostream &os, const Pose2& p);
333 
335 
336  private:
337 
338 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION //
339  // Serialization function
340  friend class boost::serialization::access;
341  template<class Archive>
342  void serialize(Archive & ar, const unsigned int /*version*/) {
343  ar & BOOST_SERIALIZATION_NVP(t_);
344  ar & BOOST_SERIALIZATION_NVP(r_);
345  }
346 #endif
347 
348 public:
349  // Align for Point2, which is either derived from, or is typedef, of Vector2
351 }; // Pose2
352 
354 template <>
355 inline Matrix wedge<Pose2>(const Vector& xi) {
356  // NOTE(chris): Need eval() as workaround for Apple clang + avx2.
357  return Matrix(Pose2::wedge(xi(0),xi(1),xi(2))).eval();
358 }
359 
360 // Convenience typedef
361 using Pose2Pair = std::pair<Pose2, Pose2>;
362 using Pose2Pairs = std::vector<Pose2Pair>;
363 
364 template <>
365 struct traits<Pose2> : public internal::LieGroup<Pose2> {};
366 
367 template <>
368 struct traits<const Pose2> : public internal::LieGroup<Pose2> {};
369 
370 // bearing and range traits, used in RangeFactor
371 template <typename T>
372 struct Bearing<Pose2, T> : HasBearing<Pose2, T, Rot2> {};
373 
374 template <typename T>
375 struct Range<Pose2, T> : HasRange<Pose2, T, double> {};
376 
377 } // namespace gtsam
378 
w
RowVector3d w
Definition: Matrix_resize_int.cpp:3
H
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Definition: gnuplot_common_settings.hh:74
gtsam::Pose2::Rotation
Rot2 Rotation
Definition: Pose2.h:44
gtsam::Pose2::Pose2
Pose2(const Matrix &T)
Definition: Pose2.h:84
pose
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
inverse
const EIGEN_DEVICE_FUNC InverseReturnType inverse() const
Definition: ArrayCwiseUnaryOps.h:411
gtsam::Pose2::adjoint_
static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y)
Definition: Pose2.h:177
s
RealScalar s
Definition: level1_cplx_impl.h:126
e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
gtsam::Pose2::Adjoint
Vector3 Adjoint(const Vector3 &xi) const
Apply AdjointMap to twist xi.
Definition: Pose2.h:152
gtsam::operator<<
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Definition: testGroup.cpp:109
screwPose2::xi
Vector xi
Definition: testPose2.cpp:148
gtsam::Pose2::adjointMap_
static Matrix3 adjointMap_(const Vector3 &xi)
Definition: Pose2.h:176
gtsam::Pose2::rotation
const Rot2 & rotation(OptionalJacobian< 1, 3 > Hself={}) const
rotation
Definition: Pose2.h:270
gtsam::Pose2::t
const Point2 & t() const
translation
Definition: Pose2.h:255
x
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 x
Definition: gnuplot_common_settings.hh:12
gtsam::Rot2::theta
double theta() const
Definition: Rot2.h:186
gtsam::Matrix
Eigen::MatrixXd Matrix
Definition: base/Matrix.h:39
gtsam::Vector3
Eigen::Vector3d Vector3
Definition: Vector.h:43
os
ofstream os("timeSchurFactors.csv")
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
gtsam::Pose2::Translation
Point2 Translation
Definition: Pose2.h:45
Rot2.h
2D rotation
Point2.h
2D Point
gtsam::Pose2::translationInterval
static std::pair< size_t, size_t > translationInterval()
Definition: Pose2.h:321
gtsam::range
Double_ range(const Point2_ &p, const Point2_ &q)
Definition: slam/expressions.h:30
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static Point3 p2
Definition: testInitializePose3.cpp:51
gtsam_unstable.tests.test_ProjectionFactorRollingShutter.point
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Definition: test_ProjectionFactorRollingShutter.py:25
Expmap
Pose2_ Expmap(const Vector3_ &xi)
Definition: InverseKinematicsExampleExpressions.cpp:47
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Definition: BearingRange.h:183
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
gtsam::Pose2::operator*
Pose2 operator*(const Pose2 &p2) const
compose syntactic sugar
Definition: Pose2.h:131
gtsam::transformFrom
Point3_ transformFrom(const Pose3_ &x, const Point3_ &p)
Definition: slam/expressions.h:47
gtsam::Pose2::ChartAtOrigin
Definition: Pose2.h:201
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StridedVectorType vy(make_vector(y, *n, std::abs(*incy)))
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Definition: Line3.cpp:94
gtsam::internal::LieGroup
Both LieGroupTraits and Testable.
Definition: Lie.h:229
gtsam::Pose2::Pose2
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Definition: Pose2.h:63
gtsam::Pose2::r
const Rot2 & r() const
rotation
Definition: Pose2.h:258
gtsam::Pose2::Identity
static Pose2 Identity()
identity for group operation
Definition: Pose2.h:125
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Definition: AngleAxis_mimic_euler.cpp:1
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Definition: Point2.h:32
Eigen::Triplet< double >
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Definition: BearingRange.h:41
gtsam::Pose2::Pose2
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Definition: Pose2.h:94
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Definition: Testable.h:112
gtsam::Pose2::Pose2
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Definition: Pose2.h:81
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Scalar * y
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Definition: gtsam/3rdparty/Eigen/blas/common.h:110
gtsam::Pose2::theta
double theta() const
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Definition: Pose2.h:252
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Definition: AnnoyingScalar.h:110
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Definition: Rot2.h:35
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gtsam::Pose2::adjointTranspose
static Vector3 adjointTranspose(const Vector3 &xi, const Vector3 &y)
Definition: Pose2.h:171
gtsam::Pose2::Pose2
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Definition: Pose2.h:58
gtsam::Pose2::translation
const Point2 & translation(OptionalJacobian< 2, 3 > Hself={}) const
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Definition: Pose2.h:261
Lie.h
Base class and basic functions for Lie types.
gtsam::Pose2::Pose2
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Definition: Pose2.h:76
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Definition: SFMdata.h:40
gtsam::rotation
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Definition: Group.h:36
gtsam::OptionalJacobian
Definition: OptionalJacobian.h:38
gtsam::Pose2::x
double x() const
get x
Definition: Pose2.h:246
gtsam::Pose2::r_
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Definition: Pose2.h:49
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static std::pair< size_t, size_t > rotationInterval()
Definition: Pose2.h:328
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Definition: Array_initializer_list_vector_cxx11.cpp:1
gtsam::Pose2::Pose2
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Definition: Pose2.h:71
gtsam::Pose2::adjoint
static Vector3 adjoint(const Vector3 &xi, const Vector3 &y)
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Definition: Lie.h:37
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gtsam::Pose2Pairs
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gtsam::Pose2::wedge
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Definition: Pose2.h:186
BearingRange.h
Bearing-Range product.
gtsam::internal::Align
static Similarity2 Align(const Point2Pairs &d_abPointPairs, const Rot2 &aRb, const Point2Pair &centroids)
This method estimates the similarity transform from differences point pairs, given a known or estimat...
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void adjoint(const MatrixType &m)
Definition: adjoint.cpp:67
gtsam::wedge< Pose2 >
Matrix wedge< Pose2 >(const Vector &xi)
Definition: Pose2.h:355
gtsam::Pose2::y
double y() const
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Definition: Pose2.h:249
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Definition: Pose2.h:50
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Definition: Pose2.h:39


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