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included Jacobian of logmap in quaternion mode

release/4.3a0
Luca 2014-12-08 18:39:47 -05:00
parent 54ee973309
commit 02f92e4e04
1 changed files with 12 additions and 5 deletions
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17
gtsam/geometry/Rot3Q.cpp
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@ -146,21 +146,22 @@ namespace gtsam {
}
/* ************************************************************************* */
Vector3 Rot3::Logmap(const Rot3& R) {
Vector3 Rot3::Logmap(const Rot3& R, boost::optional<Matrix3&> H) {
using std::acos;
using std::sqrt;
static const double twoPi = 2.0 * M_PI,
// define these compile time constants to avoid std::abs:
NearlyOne = 1.0 - 1e-10, NearlyNegativeOne = -1.0 + 1e-10;
NearlyOne = 1.0 - 1e-10, NearlyNegativeOne = -1.0 + 1e-10;
Vector3 thetaR;
const Quaternion& q = R.quaternion_;
const double qw = q.w();
if (qw > NearlyOne) {
// Taylor expansion of (angle / s) at 1
return (2 - 2 * (qw - 1) / 3) * q.vec();
thetaR = (2 - 2 * (qw - 1) / 3) * q.vec();
} else if (qw < NearlyNegativeOne) {
// Angle is zero, return zero vector
return Vector3::Zero();
thetaR = Vector3::Zero();
} else {
// Normal, away from zero case
double angle = 2 * acos(qw), s = sqrt(1 - qw * qw);
@ -169,8 +170,14 @@ namespace gtsam {
angle -= twoPi;
else if (angle < -M_PI)
angle += twoPi;
return (angle / s) * q.vec();
thetaR = (angle / s) * q.vec();
}
if(H){
H->resize(3,3);
*H = Rot3::rightJacobianExpMapSO3inverse(thetaR);
}
return thetaR;
}
/* ************************************************************************* */