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8 #ifndef SWITCHVARIABLELINEAR_H_
9 #define SWITCHVARIABLELINEAR_H_
37 inline void print(
const std::string&
name=
"")
const {
38 std::cout <<
name <<
": " <<
d_ << std::endl;
49 inline size_t dim()
const {
return 1; }
50 inline static size_t Dim() {
return 1; }
57 else if (
x<0.0)
x=0.0;
79 #
if GTSAM_VERSION_NUMERIC >= 40300
83 boost::optional<gtsam::Matrix&> H1=boost::none,
84 boost::optional<gtsam::Matrix&> H2=boost::none)
const {
86 if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
87 if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
111 template<
typename T>
struct traits;
124 #
if GTSAM_VERSION_NUMERIC >= 40300
127 ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
129 return origin.localCoordinates(other);
132 #
if GTSAM_VERSION_NUMERIC >= 40300
135 ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
const Symbol key1( 'v', 1)
gtsam::Vector localCoordinates(const SwitchVariableLinear &t2) const
SwitchVariableLinear retract(const gtsam::Vector &v) const
Eigen::Matrix< double, 1, 1 > Vector1
static SwitchVariableLinear identity()
const set< Key > expected
static vertigo::SwitchVariableLinear Retract(const vertigo::SwitchVariableLinear &g, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
gtsam::Vector TangentVector
bool equals(const SwitchVariableLinear &expected, double tol=1e-5) const
SwitchVariableLinear(double d)
const Symbol key2( 'v', 2)
void print(const std::string &name="") const
static TangentVector Local(const vertigo::SwitchVariableLinear &origin, const vertigo::SwitchVariableLinear &other, ChartJacobian Horigin=boost::none, ChartJacobian Hother=boost::none)
void print(const std::string &s="") const
const gtsam::Symbol key( 'X', 0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
SwitchVariableLinear compose(const SwitchVariableLinear &p) const
SwitchVariableLinear between(const SwitchVariableLinear &l2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
static SwitchVariableLinear Expmap(const gtsam::Vector &v)
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Array< int, Dynamic, 1 > v
static gtsam::Vector Logmap(const SwitchVariableLinear &p)
static bool Equals(const vertigo::SwitchVariableLinear &key1, const vertigo::SwitchVariableLinear &key2, double tol=1e-8)
static int GetDimension(const vertigo::SwitchVariableLinear &key)
static void Print(const vertigo::SwitchVariableLinear &key, const std::string &str="")
SwitchVariableLinear inverse() const
OptionalJacobian< 3, 3 > ChartJacobian
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:22