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44 inline Rot2(
double c,
double s) : c_(
c), s_(
s) {}
52 Rot2() : c_(1.0), s_(0.0) {}
68 return fromAngle(theta *
degree);
72 static Rot2 fromCosSin(
double c,
double s);
85 static Rot2
atan2(
double y,
double x);
93 static Rot2 Random(std::mt19937 &
rng);
100 void print(
const std::string&
s =
"theta")
const;
103 bool equals(
const Rot2&
R,
double tol = 1
e-9)
const;
117 return fromCosSin(c_ *
R.c_ - s_ *
R.s_, s_ *
R.c_ + c_ *
R.s_);
128 static Vector1 Logmap(
const Rot2& r, ChartJacobian
H = {});
163 OptionalJacobian<2, 2> H2 = {})
const;
174 OptionalJacobian<2, 2> H2 = {})
const;
197 inline double c()
const {
202 inline double s()
const {
210 Matrix2 transpose()
const;
213 static Rot2 ClosestTo(
const Matrix2&
M);
216 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
218 friend class boost::serialization::access;
219 template<
class ARCHIVE>
220 void serialize(ARCHIVE & ar,
const unsigned int ) {
221 ar & BOOST_SERIALIZATION_NVP(c_);
222 ar & BOOST_SERIALIZATION_NVP(s_);
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static Rot2 Retract(const Vector1 &v, ChartJacobian H={})
static Vector1 Local(const Rot2 &r, ChartJacobian H={})
Array< double, 1, 3 > e(1./3., 0.5, 2.)
static const double d[K][N]
Jet< T, N > sin(const Jet< T, N > &f)
Point2 unit() const
Creates a unit vector as a Point2.
static Matrix LogmapDerivative(const Vector &)
Left-trivialized derivative inverse of the exponential map.
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
static Rot2 fromDegrees(double theta)
Named constructor from angle in degrees.
Jet< T, N > cos(const Jet< T, N > &f)
Point2 operator*(const Point2 &p) const
static Rot2 fromAngle(double theta)
Named constructor from angle in radians.
Pose2_ Expmap(const Vector3_ &xi)
void print(const Matrix &A, const string &s, ostream &stream)
static void normalize(Signature::Row &row)
Point3_ unrotate(const Rot3_ &x, const Point3_ &p)
Point3_ rotate(const Rot3_ &x, const Point3_ &p)
Both LieGroupTraits and Testable.
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
AnnoyingScalar atan2(const AnnoyingScalar &y, const AnnoyingScalar &x)
Base class and basic functions for Lie types.
Array< int, Dynamic, 1 > v
Rot2(double theta)
Constructor from angle in radians == exponential map at identity.
The matrix class, also used for vectors and row-vectors.
static Matrix ExpmapDerivative(const Vector &)
Left-trivialized derivative of the exponential map.
Matrix1 AdjointMap() const
Rot2 inverse(ChartJacobian H) const
Rot2 R(Rot2::fromAngle(0.1))
Rot2 operator*(const Rot2 &R) const
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:35:00