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23 #include <gtsam/dllexport.h>
78 void print(
const std::string&
s =
"")
const;
80 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
145 static Vector7 Logmap(
const Similarity3&
s,
146 OptionalJacobian<7, 7> Hm = {});
150 static Similarity3
Expmap(
const Vector7&
v,
151 OptionalJacobian<7, 7> Hm = {});
173 static Matrix4
wedge(
const Vector7&
xi);
176 Matrix7 AdjointMap()
const;
195 inline static size_t Dim() {
return 7; }
198 inline size_t dim()
const {
return 7; }
206 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
208 friend class boost::serialization::access;
209 template<
class Archive>
210 void serialize(Archive & ar,
const unsigned int ) {
211 ar & BOOST_SERIALIZATION_NVP(R_);
212 ar & BOOST_SERIALIZATION_NVP(t_);
213 ar & BOOST_SERIALIZATION_NVP(s_);
double scale() const
Return the scale.
static Vector7 Logmap(const Similarity3 &s, OptionalJacobian< 7, 7 > Hm={})
Matrix wedge(const Vector &x)
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static Matrix4 wedge(const Vector7 &xi)
std::vector< Point3Pair > Point3Pairs
const EIGEN_DEVICE_FUNC InverseReturnType inverse() const
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
size_t dim() const
Dimensionality of tangent space = 7 DOF.
static Similarity3 Retract(const Vector7 &v, ChartJacobian H={})
bool operator==(const Matrix &A, const Matrix &B)
ofstream os("timeSchurFactors.csv")
Point2 operator*(double s, const Point2 &p)
multiply with scalar
3D rotation represented as a rotation matrix or quaternion
Pose2_ Expmap(const Vector3_ &xi)
void print(const Matrix &A, const string &s, ostream &stream)
Point3_ transformFrom(const Pose3_ &x, const Point3_ &p)
static size_t Dim()
Dimensionality of tangent space = 7 DOF - used to autodetect sizes.
Point3 translation() const
Return a GTSAM translation.
Both LieGroupTraits and Testable.
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Base class and basic functions for Manifold types.
static Vector7 Local(const Similarity3 &other, ChartJacobian H={})
std::vector< std::pair< Pose3, Pose3 > > Pose3Pairs
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
Base class and basic functions for Lie types.
Rot3 rotation() const
Return a GTSAM rotation.
Array< int, Dynamic, 1 > v
static Similarity2 Align(const Point2Pairs &d_abPointPairs, const Rot2 &aRb, const Point2Pair ¢roids)
This method estimates the similarity transform from differences point pairs, given a known or estimat...
Similarity3 inverse(ChartJacobian H) const
Matrix wedge< Similarity3 >(const Vector &xi)
Rot2 R(Rot2::fromAngle(0.1))
static Similarity3 Expmap(const Vector7 &v, OptionalJacobian< 7, 7 > Hm={})
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:04:12