#include <Pose3.h>

Inheritance diagram for gtsam::Pose3:

Classes
struct	ChartAtOrigin

Public Types
typedef Rot3	Rotation

typedef Point3	Translation

Public Types inherited from gtsam::LieGroup< Pose3, 6 >
typedef OptionalJacobian< N, N >	ChartJacobian

typedef Eigen::Matrix< double, N, N >	Jacobian

typedef Eigen::Matrix< double, N, 1 >	TangentVector

Private Attributes
Rot3	R_
	Rotation gRp, between global and pose frame. More...

Point3	t_
	Translation gPp, from global origin to pose frame origin. More...

Standard Constructors
	Pose3 ()

	Pose3 (const Pose3 &pose)

	Pose3 (const Rot3 &R, const Point3 &t)

	Pose3 (const Pose2 &pose2)

	Pose3 (const Matrix &T)

static Pose3	Create (const Rot3 &R, const Point3 &t, OptionalJacobian< 6, 3 > HR={}, OptionalJacobian< 6, 3 > Ht={})
	Named constructor with derivatives. More...

static std::optional< Pose3 >	Align (const Point3Pairs &abPointPairs)

static std::optional< Pose3 >	Align (const Matrix &a, const Matrix &b)

Testable
void	print (const std::string &s="") const
	print with optional string More...

bool	equals (const Pose3 &pose, double tol=1e-9) const
	assert equality up to a tolerance More...

Group
Pose3	inverse () const
	inverse transformation with derivatives More...

Pose3	operator* (const Pose3 &T) const
	compose syntactic sugar More...

Pose3	interpolateRt (const Pose3 &T, double t) const

static Pose3	Identity ()
	identity for group operation More...

Lie Group
Matrix6	AdjointMap () const

Vector6	Adjoint (const Vector6 &xi_b, OptionalJacobian< 6, 6 > H_this={}, OptionalJacobian< 6, 6 > H_xib={}) const

Vector6	AdjointTranspose (const Vector6 &x, OptionalJacobian< 6, 6 > H_this={}, OptionalJacobian< 6, 6 > H_x={}) const
	The dual version of Adjoint. More...

static Pose3	Expmap (const Vector6 &xi, OptionalJacobian< 6, 6 > Hxi={})
	Exponential map at identity - create a rotation from canonical coordinates . More...

static Vector6	Logmap (const Pose3 &pose, OptionalJacobian< 6, 6 > Hpose={})
	Log map at identity - return the canonical coordinates of this rotation. More...

static Matrix6	adjointMap (const Vector6 &xi)

static Vector6	adjoint (const Vector6 &xi, const Vector6 &y, OptionalJacobian< 6, 6 > Hxi={}, OptionalJacobian< 6, 6 > H_y={})

static Matrix6	adjointMap_ (const Vector6 &xi)

static Vector6	adjoint_ (const Vector6 &xi, const Vector6 &y)

static Vector6	adjointTranspose (const Vector6 &xi, const Vector6 &y, OptionalJacobian< 6, 6 > Hxi={}, OptionalJacobian< 6, 6 > H_y={})

static Matrix6	ExpmapDerivative (const Vector6 &xi)
	Derivative of Expmap. More...

static Matrix6	LogmapDerivative (const Pose3 &xi)
	Derivative of Logmap. More...

static Matrix3	ComputeQforExpmapDerivative (const Vector6 &xi, double nearZeroThreshold=1e-5)

static Vector3	ExpmapTranslation (const Vector3 &w, const Vector3 &v, OptionalJacobian< 3, 3 > Q={}, OptionalJacobian< 3, 3 > J={}, double nearZeroThreshold=1e-5)

static Matrix	wedge (double wx, double wy, double wz, double vx, double vy, double vz)

Group Action on Point3
Point3	transformFrom (const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
	takes point in Pose coordinates and transforms it to world coordinates More...

Matrix	transformFrom (const Matrix &points) const
	transform many points in Pose coordinates and transform to world. More...

Point3	operator* (const Point3 &point) const

Point3	transformTo (const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
	takes point in world coordinates and transforms it to Pose coordinates More...

Matrix	transformTo (const Matrix &points) const
	transform many points in world coordinates and transform to Pose. More...

Standard Interface
const Rot3 &	rotation (OptionalJacobian< 3, 6 > Hself={}) const
	get rotation More...

const Point3 &	translation (OptionalJacobian< 3, 6 > Hself={}) const
	get translation More...

double	x () const
	get x More...

double	y () const
	get y More...

double	z () const
	get z More...

Matrix4	matrix () const

Pose3	transformPoseFrom (const Pose3 &aTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HaTb={}) const

Pose3	transformPoseTo (const Pose3 &wTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HwTb={}) const

double	range (const Point3 &point, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 3 > Hpoint={}) const

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 6 > Hpose={}) const

Unit3	bearing (const Point3 &point, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 3 > Hpoint={}) const

Unit3	bearing (const Pose3 &pose, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 6 > Hpose={}) const

Advanced Interface
Pose3	slerp (double t, const Pose3 &other, OptionalJacobian< 6, 6 > Hx={}, OptionalJacobian< 6, 6 > Hy={}) const
	Spherical Linear interpolation between *this and other. More...

static std::pair< size_t, size_t >	translationInterval ()

static std::pair< size_t, size_t >	rotationInterval ()

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Pose3 &p)
	Output stream operator. More...

Additional Inherited Members
Public Member Functions inherited from gtsam::LieGroup< Pose3, 6 >
Pose3	between (const Pose3 &g) const

Pose3	between (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const

SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

GTSAM_EXPORT SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

Pose3	compose (const Pose3 &g) const

Pose3	compose (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const

SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

GTSAM_EXPORT SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

const Pose3 &	derived () const

Pose3	expmap (const TangentVector &v) const

Pose3	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	expmap with optional derivatives More...

Pose3	inverse (ChartJacobian H) const

TangentVector	localCoordinates (const Pose3 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g More...

TangentVector	localCoordinates (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const
	localCoordinates with optional derivatives More...

TangentVector	logmap (const Pose3 &g) const

TangentVector	logmap (const Pose3 &g, ChartJacobian H1, ChartJacobian H2={}) const
	logmap with optional derivatives More...

Pose3	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this More...

Pose3	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	retract with optional derivatives More...

Static Public Member Functions inherited from gtsam::LieGroup< Pose3, 6 >
static TangentVector	LocalCoordinates (const Pose3 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity. More...

static TangentVector	LocalCoordinates (const Pose3 &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative. More...

static Pose3	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity. More...

static Pose3	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative. More...

Static Public Attributes inherited from gtsam::LieGroup< Pose3, 6 >
constexpr static auto	dimension

Detailed Description

A 3D pose (R,t) : (Rot3,Point3)

Definition at line 37 of file Pose3.h.

Member Typedef Documentation

◆ Rotation

typedef Rot3 gtsam::Pose3::Rotation

Pose Concept requirements

Definition at line 41 of file Pose3.h.

◆ Translation

typedef Point3 gtsam::Pose3::Translation

Definition at line 42 of file Pose3.h.

Constructor & Destructor Documentation

◆ Pose3() [1/5]

gtsam::Pose3::Pose3 ( )

inline

Default constructor is origin

Definition at line 55 of file Pose3.h.

◆ Pose3() [2/5]

gtsam::Pose3::Pose3 ( const Pose3 & pose )

inline

Copy constructor

Definition at line 58 of file Pose3.h.

◆ Pose3() [3/5]

gtsam::Pose3::Pose3	(	const Rot3 &	R,
		const Point3 &	t
	)

inline

Construct from R,t

Definition at line 63 of file Pose3.h.

◆ Pose3() [4/5]

Pose3::Pose3 ( const Pose2 & pose2 )

explicit

Construct from Pose2

instantiate concept checks

Definition at line 33 of file Pose3.cpp.

◆ Pose3() [5/5]

gtsam::Pose3::Pose3 ( const Matrix & T )

inline

Constructor from 4*4 matrix

Definition at line 71 of file Pose3.h.

Member Function Documentation

◆ adjoint()

Vector6 Pose3::adjoint	(	const Vector6 &	xi,
		const Vector6 &	y,
		OptionalJacobian< 6, 6 >	Hxi = `{}`,
		OptionalJacobian< 6, 6 >	H_y = `{}`
	)

static

Action of the adjointMap on a Lie-algebra vector y, with optional derivatives

Definition at line 114 of file Pose3.cpp.

◆ Adjoint()

Vector6 Pose3::Adjoint	(	const Vector6 &	xi_b,
		OptionalJacobian< 6, 6 >	H_this = `{}`,
		OptionalJacobian< 6, 6 >	H_xib = `{}`
	)		const

Apply this pose's AdjointMap Ad_g to a twist $\xi_b$ , i.e. a body-fixed velocity, transforming it to the spatial frame $\xi^s = g*\xi^b*g^{-1} = Ad_g * \xi^b$ Note that H_xib = AdjointMap()

Definition at line 65 of file Pose3.cpp.

◆ adjoint_()

static Vector6 gtsam::Pose3::adjoint_	(	const Vector6 &	xi,
		const Vector6 &	y
	)

inlinestatic

Definition at line 191 of file Pose3.h.

◆ AdjointMap()

Matrix6 Pose3::AdjointMap ( ) const

Calculate Adjoint map, transforming a twist in this pose's (i.e, body) frame to the world spatial frame Ad_pose is 6*6 matrix that when applied to twist xi $ [R_x,R_y,R_z,T_x,T_y,T_z] $ , returns Ad_pose(xi)

Definition at line 55 of file Pose3.cpp.

◆ adjointMap()

Matrix6 Pose3::adjointMap ( const Vector6 & xi )

static

Compute the [ad(w,v)] operator as defined in [Kobilarov09siggraph], pg 11 [ad(w,v)] = [w^, zero3; v^, w^] Note that this is the matrix representation of the adjoint operator for se3 Lie algebra, aka the Lie bracket, and also the derivative of Adjoint map for the Lie group SE3.

Let $\hat{\xi}_i$ be the se3 Lie algebra, and $\hat{\xi}_i^\vee = \xi_i = [\omega_i,v_i] \in \mathbb{R}^6$ be its vector representation. We have the following relationship: $[\hat{\xi}_1,\hat{\xi}_2]^\vee = ad_{\xi_1}(\xi_2) = [ad_{(\omega_1,v_1)}]*\xi_2$

We use this to compute the discrete version of the inverse right-trivialized tangent map, and its inverse transpose in the discrete Euler Poincare' (DEP) operator.

Definition at line 104 of file Pose3.cpp.

◆ adjointMap_()

static Matrix6 gtsam::Pose3::adjointMap_ ( const Vector6 & xi )

inlinestatic

Definition at line 190 of file Pose3.h.

◆ AdjointTranspose()

Vector6 Pose3::AdjointTranspose	(	const Vector6 &	x,
		OptionalJacobian< 6, 6 >	H_this = `{}`,
		OptionalJacobian< 6, 6 >	H_x = `{}`
	)		const

The dual version of Adjoint.

Definition at line 83 of file Pose3.cpp.

◆ adjointTranspose()

Vector6 Pose3::adjointTranspose	(	const Vector6 &	xi,
		const Vector6 &	y,
		OptionalJacobian< 6, 6 >	Hxi = `{}`,
		OptionalJacobian< 6, 6 >	H_y = `{}`
	)

static

The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.

Definition at line 132 of file Pose3.cpp.

◆ Align() [1/2]

std::optional< Pose3 > Pose3::Align	(	const Matrix &	a,
		const Matrix &	b
	)

static

Definition at line 476 of file Pose3.cpp.

◆ Align() [2/2]

std::optional< Pose3 > Pose3::Align ( const Point3Pairs & abPointPairs )

static

Create Pose3 by aligning two point pairs A pose aTb is estimated between pairs (a_point, b_point) such that a_point = aTb * b_point Note this allows for noise on the points but in that case the mapping will not be exact.

Definition at line 453 of file Pose3.cpp.

◆ bearing() [1/2]

Unit3 Pose3::bearing	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Hself = `{}`,
		OptionalJacobian< 2, 3 >	Hpoint = `{}`
	)		const

Calculate bearing to a landmark

Parameters

point 3D location of landmark

Returns: bearing (Unit3)

Definition at line 426 of file Pose3.cpp.

◆ bearing() [2/2]

Unit3 Pose3::bearing	(	const Pose3 &	pose,
		OptionalJacobian< 2, 6 >	Hself = `{}`,
		OptionalJacobian< 2, 6 >	Hpose = `{}`
	)		const

Calculate bearing to another pose

Parameters

other 3D location and orientation of other body. The orientation information is ignored.

Returns: bearing (Unit3)

Definition at line 443 of file Pose3.cpp.

◆ ComputeQforExpmapDerivative()

Matrix3 Pose3::ComputeQforExpmapDerivative	(	const Vector6 &	xi,
		double	nearZeroThreshold = `1e-5`
	)

static

Compute the 3x3 bottom-left block Q of SE3 Expmap right derivative matrix J_r(xi) = [J_(w) Z_3x3; Q_r J_(w)] where J_(w) is the SO3 Expmap right derivative. (see Chirikjian11book2, pg 44, eq 10.95. The closed-form formula is identical to formula 102 in Barfoot14tro where Q_l of the SE3 Expmap left derivative matrix is given. This is the Jacobian of ExpmapTranslation and computed there.

Definition at line 245 of file Pose3.cpp.

◆ Create()

Pose3 Pose3::Create	(	const Rot3 &	R,
		const Point3 &	t,
		OptionalJacobian< 6, 3 >	HR = `{}`,
		OptionalJacobian< 6, 3 >	Ht = `{}`
	)

static

Named constructor with derivatives.

Definition at line 39 of file Pose3.cpp.

◆ equals()

bool Pose3::equals	(	const Pose3 &	pose,
		double	tol = `1e-9`
	)		const

assert equality up to a tolerance

Definition at line 155 of file Pose3.cpp.

◆ Expmap()

Pose3 Pose3::Expmap	(	const Vector6 &	xi,
		OptionalJacobian< 6, 6 >	Hxi = `{}`
	)

static

Exponential map at identity - create a rotation from canonical coordinates $ [R_x,R_y,R_z,T_x,T_y,T_z] $ .

Definition at line 168 of file Pose3.cpp.

◆ ExpmapDerivative()

Matrix6 Pose3::ExpmapDerivative ( const Vector6 & xi )

static

Derivative of Expmap.

Definition at line 291 of file Pose3.cpp.

◆ ExpmapTranslation()

Vector3 Pose3::ExpmapTranslation	(	const Vector3 &	w,
		const Vector3 &	v,
		OptionalJacobian< 3, 3 >	Q = `{}`,
		OptionalJacobian< 3, 3 >	J = `{}`,
		double	nearZeroThreshold = `1e-5`
	)

static

Compute the translation part of the exponential map, with Jacobians.

Parameters

w	3D angular velocity
v	3D velocity
Q	Optionally, compute 3x3 Jacobian wrpt w
J	Optionally, compute 3x3 Jacobian wrpt v = right Jacobian of SO(3)
nearZeroThreshold	threshold for small values

Note: This function returns Jacobians Q and J corresponding to the bottom blocks of the SE(3) exponential, and translated from left to right from the applyLeftJacobian Jacobians.

Definition at line 261 of file Pose3.cpp.

◆ Identity()

static Pose3 gtsam::Pose3::Identity ( )

inlinestatic

identity for group operation

Definition at line 106 of file Pose3.h.

◆ interpolateRt()

Pose3 Pose3::interpolateRt	(	const Pose3 &	T,
		double	t
	)		const

Interpolate between two poses via individual rotation and translation interpolation.

The default "interpolate" method defined in Lie.h minimizes the geodesic distance on the manifold, leading to a screw motion interpolation in Cartesian space, which might not be what is expected. In contrast, this method executes a straight line interpolation for the translation, while still using interpolate (aka "slerp") for the rotational component. This might be more intuitive in many applications.

Parameters

T	End point of interpolation.
t	A value in [0, 1].

Definition at line 160 of file Pose3.cpp.

◆ inverse()

Pose3 Pose3::inverse ( ) const

inverse transformation with derivatives

Definition at line 47 of file Pose3.cpp.

◆ Logmap()

Vector6 Pose3::Logmap	(	const Pose3 &	pose,
		OptionalJacobian< 6, 6 >	Hpose = `{}`
	)

static

Log map at identity - return the canonical coordinates $ [R_x,R_y,R_z,T_x,T_y,T_z] $ of this rotation.

Definition at line 190 of file Pose3.cpp.

◆ LogmapDerivative()

Matrix6 Pose3::LogmapDerivative ( const Pose3 & xi )

static

Derivative of Logmap.

Definition at line 298 of file Pose3.cpp.

◆ matrix()

Matrix4 Pose3::matrix ( ) const

convert to 4*4 matrix

Definition at line 324 of file Pose3.cpp.

◆ operator*() [1/2]

Point3 gtsam::Pose3::operator* ( const Point3 & point ) const

inline

syntactic sugar for transformFrom

Definition at line 277 of file Pose3.h.

◆ operator*() [2/2]

Pose3 gtsam::Pose3::operator* ( const Pose3 & T ) const

inline

compose syntactic sugar

Definition at line 114 of file Pose3.h.

◆ print()

void Pose3::print ( const std::string & s = "" ) const

print with optional string

Definition at line 150 of file Pose3.cpp.

◆ range() [1/2]

double Pose3::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Hself = `{}`,
		OptionalJacobian< 1, 3 >	Hpoint = `{}`
	)		const

Calculate range to a landmark

Parameters

point 3D location of landmark

Returns: range (double)

Definition at line 400 of file Pose3.cpp.

◆ range() [2/2]

double Pose3::range	(	const Pose3 &	pose,
		OptionalJacobian< 1, 6 >	Hself = `{}`,
		OptionalJacobian< 1, 6 >	Hpose = `{}`
	)		const

Calculate range to another pose

Parameters

pose	Other SO(3) pose

Returns: range (double)

Definition at line 417 of file Pose3.cpp.

◆ rotation()

const Rot3 & Pose3::rotation ( OptionalJacobian< 3, 6 > Hself = {} ) const

get rotation

Definition at line 316 of file Pose3.cpp.

◆ rotationInterval()

static std::pair<size_t, size_t> gtsam::Pose3::rotationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

Definition at line 392 of file Pose3.h.

◆ slerp()

Pose3 Pose3::slerp	(	double	t,
		const Pose3 &	other,
		OptionalJacobian< 6, 6 >	Hx = `{}`,
		OptionalJacobian< 6, 6 >	Hy = `{}`
	)		const

Spherical Linear interpolation between *this and other.

Parameters

s	a value between 0 and 1.5
other	final point of interpolation geodesic on manifold

Definition at line 489 of file Pose3.cpp.

◆ transformFrom() [1/2]

Matrix Pose3::transformFrom ( const Matrix & points ) const

transform many points in Pose coordinates and transform to world.

Parameters

points 3*N matrix in Pose coordinates

Returns: points in world coordinates, as 3*N Matrix

Definition at line 363 of file Pose3.cpp.

◆ transformFrom() [2/2]

Point3 Pose3::transformFrom	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	Hself = `{}`,
		OptionalJacobian< 3, 3 >	Hpoint = `{}`
	)		const

takes point in Pose coordinates and transforms it to world coordinates

Parameters

point	point in Pose coordinates
Hself	optional 3*6 Jacobian wrpt this pose
Hpoint	optional 3*3 Jacobian wrpt point

Returns: point in world coordinates

Definition at line 348 of file Pose3.cpp.

◆ transformPoseFrom()

Pose3 Pose3::transformPoseFrom	(	const Pose3 &	aTb,
		OptionalJacobian< 6, 6 >	Hself = `{}`,
		OptionalJacobian< 6, 6 >	HaTb = `{}`
	)		const

Assuming self == wTa, takes a pose aTb in local coordinates and transforms it to world coordinates wTb = wTa * aTb. This is identical to compose.

Definition at line 332 of file Pose3.cpp.

◆ transformPoseTo()

Pose3 Pose3::transformPoseTo	(	const Pose3 &	wTb,
		OptionalJacobian< 6, 6 >	Hself = `{}`,
		OptionalJacobian< 6, 6 >	HwTb = `{}`
	)		const

Assuming self == wTa, takes a pose wTb in world coordinates and transforms it to local coordinates aTb = inv(wTa) * wTb

Definition at line 339 of file Pose3.cpp.

◆ transformTo() [1/2]

Matrix Pose3::transformTo ( const Matrix & points ) const

transform many points in world coordinates and transform to Pose.

Parameters

points 3*N matrix in world coordinates

Returns: points in Pose coordinates, as 3*N Matrix

Definition at line 391 of file Pose3.cpp.

◆ transformTo() [2/2]

Point3 Pose3::transformTo	(	const Point3 &	point,
		OptionalJacobian< 3, 6 >	Hself = `{}`,
		OptionalJacobian< 3, 3 >	Hpoint = `{}`
	)		const

takes point in world coordinates and transforms it to Pose coordinates

Parameters

point	point in world coordinates
Hself	optional 3*6 Jacobian wrpt this pose
Hpoint	optional 3*3 Jacobian wrpt point

Returns: point in Pose coordinates

Definition at line 372 of file Pose3.cpp.

◆ translation()

const Point3 & Pose3::translation ( OptionalJacobian< 3, 6 > Hself = {} ) const

get translation

Definition at line 310 of file Pose3.cpp.

◆ translationInterval()

static std::pair<size_t, size_t> gtsam::Pose3::translationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization

Returns: a pair of [start, end] indices into the tangent space vector

Definition at line 383 of file Pose3.h.

◆ wedge()

static Matrix gtsam::Pose3::wedge	(	double	wx,
		double	wy,
		double	wz,
		double	vx,
		double	vy,
		double	vz
	)

inlinestatic

wedge for Pose3:

Parameters

xi	6-dim twist (omega,v) where omega = (wx,wy,wz) 3D angular velocity v (vx,vy,vz) = 3D velocity

Returns: xihat, 4*4 element of Lie algebra that can be exponentiated

Definition at line 250 of file Pose3.h.

◆ x()

double gtsam::Pose3::x ( ) const

inline

get x

Definition at line 309 of file Pose3.h.

◆ y()

double gtsam::Pose3::y ( ) const

inline

get y

Definition at line 314 of file Pose3.h.

◆ z()

double gtsam::Pose3::z ( ) const

inline

get z

Definition at line 319 of file Pose3.h.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Pose3 &	p
	)

friend

Output stream operator.

Definition at line 494 of file Pose3.cpp.

Member Data Documentation

◆ R_

Rot3 gtsam::Pose3::R_

private

Rotation gRp, between global and pose frame.

Definition at line 46 of file Pose3.h.

◆ t_

Point3 gtsam::Pose3::t_

private

Translation gPp, from global origin to pose frame origin.

Definition at line 47 of file Pose3.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Private Attributes

Standard Constructors

Testable

Group

Lie Group

Group Action on Point3

Standard Interface

Advanced Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Rotation

◆ Translation

Constructor & Destructor Documentation

◆ Pose3() [1/5]

◆ Pose3() [2/5]

◆ Pose3() [3/5]

◆ Pose3() [4/5]

◆ Pose3() [5/5]

Member Function Documentation

◆ adjoint()

◆ Adjoint()

◆ adjoint_()

◆ AdjointMap()

◆ adjointMap()

◆ adjointMap_()

◆ AdjointTranspose()

◆ adjointTranspose()

◆ Align() [1/2]

◆ Align() [2/2]

◆ bearing() [1/2]

◆ bearing() [2/2]

◆ ComputeQforExpmapDerivative()

◆ Create()

◆ equals()

◆ Expmap()

◆ ExpmapDerivative()

◆ ExpmapTranslation()

◆ Identity()

◆ interpolateRt()

◆ inverse()

◆ Logmap()

◆ LogmapDerivative()

◆ matrix()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ print()

◆ range() [1/2]

◆ range() [2/2]

◆ rotation()

◆ rotationInterval()

◆ slerp()

◆ transformFrom() [1/2]

◆ transformFrom() [2/2]

◆ transformPoseFrom()

◆ transformPoseTo()

◆ transformTo() [1/2]

◆ transformTo() [2/2]

◆ translation()

◆ translationInterval()

◆ wedge()

◆ x()

◆ y()

◆ z()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ R_

◆ t_