SOn-inl.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010-2019, 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 
12 #pragma once
13 
21 #include <gtsam/base/Matrix.h>
22 
23 #include <iostream>
24 
25 namespace gtsam {
26 
27 // Implementation for N>=5 just uses dynamic version
28 template <int N>
30  return SOn::Hat(xi);
31 }
32 
33 // Implementation for N>=5 just uses dynamic version
34 template <int N>
36  return SOn::Vee(X);
37 }
38 
39 template <int N>
41  if (H) throw std::runtime_error("SO<N>::Retract jacobian not implemented.");
42  const Matrix X = Hat(xi / 2.0);
43  size_t n = AmbientDim(xi.size());
44  const auto I = Eigen::MatrixXd::Identity(n, n);
45  // https://pdfs.semanticscholar.org/6165/0347b2ccac34b5f423081d1ce4dbc4d09475.pdf
46  return SO((I + X) * (I - X).inverse());
47 }
48 
49 template <int N>
51  ChartJacobian H) {
52  if (H) throw std::runtime_error("SO<N>::Local jacobian not implemented.");
53  const size_t n = R.rows();
54  const auto I = Eigen::MatrixXd::Identity(n, n);
55  const Matrix X = (I - R.matrix_) * (I + R.matrix_).inverse();
56  return -2 * Vee(X);
57 }
58 
59 template <int N>
60 typename SO<N>::MatrixDD SO<N>::AdjointMap() const {
61  if (N==2) return I_1x1; // SO(2) case
62  throw std::runtime_error(
63  "SO<N>::AdjointMap only implemented for SO2, SO3 and SO4.");
64 }
65 
66 template <int N>
68  throw std::runtime_error("SO<N>::Expmap only implemented for SO3 and SO4.");
69 }
70 
71 template <int N>
73  throw std::runtime_error("SO<N>::ExpmapDerivative only implemented for SO3.");
74 }
75 
76 template <int N>
78  throw std::runtime_error("SO<N>::Logmap only implemented for SO3.");
79 }
80 
81 template <int N>
83  throw std::runtime_error("O<N>::LogmapDerivative only implemented for SO3.");
84 }
85 
86 // Default fixed size version (but specialized elsewehere for N=2,3,4)
87 template <int N>
90  // Vectorize
92 
93  // If requested, calculate H as (I \oplus Q) * P,
94  // where Q is the N*N rotation matrix, and P is calculated below.
95  if (H) {
96  // Calculate P matrix of vectorized generators
97  // TODO(duy): Should we refactor this as the jacobian of Hat?
99  for (size_t i = 0; i < N; i++) {
100  H->block(i * N, 0, N, dimension) =
101  matrix_ * P.block(i * N, 0, N, dimension);
102  }
103  }
104  return X;
105 }
106 
107 template <int N>
108 void SO<N>::print(const std::string& s) const {
109  std::cout << s << matrix_ << std::endl;
110 }
111 
112 } // namespace gtsam
H
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Definition: gnuplot_common_settings.hh:74
gtsam::SO::inverse
SO inverse() const
inverse of a rotation = transpose
Definition: SOn.h:195
gtsam::SO::ChartAtOrigin::Retract
static SO Retract(const TangentVector &xi, ChartJacobian H={})
Definition: SOn-inl.h:40
s
RealScalar s
Definition: level1_cplx_impl.h:126
gtsam::SO::Hat
static MatrixNN Hat(const TangentVector &xi)
Definition: SOn-inl.h:29
screwPose2::xi
Vector xi
Definition: testPose2.cpp:148
Matrix.h
typedef and functions to augment Eigen's MatrixXd
gtsam::SO::ExpmapDerivative
static MatrixDD ExpmapDerivative(const TangentVector &omega)
Derivative of Expmap, currently only defined for SO3.
Definition: SOn-inl.h:72
gtsam::Matrix
Eigen::MatrixXd Matrix
Definition: base/Matrix.h:39
X
#define X
Definition: icosphere.cpp:20
gtsam::SO::Expmap
static SO Expmap(const TangentVector &omega, ChartJacobian H={})
Definition: SOn-inl.h:67
gtsam::SO::LogmapDerivative
static MatrixDD LogmapDerivative(const TangentVector &omega)
Derivative of Logmap, currently only defined for SO3.
Definition: SOn-inl.h:82
gtsam::SO::matrix_
MatrixNN matrix_
Rotation matrix.
Definition: SOn.h:64
biased_x_rotation::omega
const double omega
Definition: testPreintegratedRotation.cpp:32
n
int n
Definition: BiCGSTAB_simple.cpp:1
gtsam::SO::VectorizedGenerators
static Matrix VectorizedGenerators()
Calculate N^2 x dim matrix of vectorized Lie algebra generators for SO(N)
Definition: SOn.h:302
I
#define I
Definition: main.h:112
gtsam::SO::AmbientDim
static size_t AmbientDim(size_t d)
Definition: SOn.h:212
gtsam::SO::SO
SO()
Construct SO<N> identity for N >= 2.
Definition: SOn.h:81
gtsam::SO::AdjointMap
MatrixDD AdjointMap() const
Adjoint map.
Definition: SO4.cpp:159
Eigen::Map
A matrix or vector expression mapping an existing array of data.
Definition: Map.h:94
gtsam::SO::Logmap
static TangentVector Logmap(const SO &R, ChartJacobian H={})
Definition: SOn-inl.h:77
gtsam::internal::NSquaredSO
constexpr int NSquaredSO(int N)
Definition: SOn.h:46
gtsam::SO::print
void print(const std::string &s=std::string()) const
Definition: SOn-inl.h:108
gtsam::SO::dimension
@ dimension
Definition: SOn.h:56
gtsam
traits
Definition: SFMdata.h:40
gtsam::OptionalJacobian
Definition: OptionalJacobian.h:38
gtsam::SO::ChartAtOrigin::Local
static TangentVector Local(const SO &R, ChartJacobian H={})
Definition: SOn-inl.h:50
P
static double P[]
Definition: ellpe.c:68
Eigen::PlainObjectBase::data
EIGEN_DEVICE_FUNC const EIGEN_STRONG_INLINE Scalar * data() const
Definition: PlainObjectBase.h:247
gtsam::SO
Definition: SOn.h:54
gtsam::SO::Vee
static TangentVector Vee(const MatrixNN &X)
Inverse of Hat. See note about xi element order in Hat.
Definition: SOn-inl.h:35
Eigen::Matrix< double, N, N >
N
#define N
Definition: igam.h:9
gtsam::SO::vec
VectorN2 vec(OptionalJacobian< internal::NSquaredSO(N), dimension > H={}) const
Definition: SOn-inl.h:88
i
int i
Definition: BiCGSTAB_step_by_step.cpp:9
R
Rot2 R(Rot2::fromAngle(0.1))


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