Similarity2.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/dllexport.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
 
namespace gtsam {
 
// Forward declarations
class Pose2;
 
class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
  typedef Rot2 Rotation;
  typedef Point2 Translation;
 
 private:
  Rot2 R_;
  Point2 t_;
  double s_;
 
 public:
 
  Similarity2();
 
  Similarity2(double s);
 
  Similarity2(const Rot2& R, const Point2& t, double s);
 
  Similarity2(const Matrix2& R, const Vector2& t, double s);
 
  Similarity2(const Matrix3& T);
 
 
  bool equals(const Similarity2& sim, double tol) const;
 
  bool operator==(const Similarity2& other) const;
 
  void print(const std::string& s = "") const;
 
  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Similarity2& p);
 
 
  static Similarity2 Identity();
 
  Similarity2 operator*(const Similarity2& S) const;
 
  Similarity2 inverse() const;
 
 
  Point2 transformFrom(const Point2& p) const;
 
  Pose2 transformFrom(const Pose2& T) const;
 
  /* syntactic sugar for transformFrom */
  Point2 operator*(const Point2& p) const;
 
  static Similarity2 Align(const Point2Pairs& abPointPairs);
 
  static Similarity2 Align(const Pose2Pairs& abPosePairs);
 
 
  using LieAlgebra = Matrix3;
 
  static Matrix2 GetV(double theta, double lambda);
 
  static Vector4 Logmap(const Similarity2& S,  //
                        OptionalJacobian<4, 4> Hm = {});
 
  static Similarity2 Expmap(const Vector4& v,  //
                            OptionalJacobian<4, 4> Hm = {});
 
  struct ChartAtOrigin {
    static Similarity2 Retract(const Vector4& v,
                               ChartJacobian H = {}) {
      return Similarity2::Expmap(v, H);
    }
    static Vector4 Local(const Similarity2& other,
                         ChartJacobian H = {}) {
      return Similarity2::Logmap(other, H);
    }
  };
 
  Matrix4 AdjointMap() const;
 
  using LieGroup<Similarity2, 4>::inverse;
 
  static Matrix3 Hat(const Vector4& xi);
 
  static Vector4 Vee(const Matrix3& X);
 
 
  Matrix3 matrix() const;
 
  Rot2 rotation() const { return R_; }
 
  Point2 translation() const { return t_; }
 
  double scale() const { return s_; }
 
  inline static size_t Dim() { return 4; }
 
  inline size_t dim() const { return 4; }
 
};
 
template <>
struct traits<Similarity2> : public internal::MatrixLieGroup<Similarity2> {};
 
template <>
struct traits<const Similarity2> : public internal::MatrixLieGroup<Similarity2> {};
 
}  // namespace gtsam