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Sphere2 and EssentialMatrix

release/4.3a0
dellaert 2014-01-25 10:21:58 -05:00
parent f01ee3b5d9
commit 05625ff25e
1 changed files with 43 additions and 0 deletions
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43
gtsam.h
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@ -563,6 +563,49 @@ virtual class Pose3 : gtsam::Value {
void serialize() const; void serialize() const;
}; };
#include <gtsam/geometry/Sphere2.h>
virtual class Sphere2 : gtsam::Value {
// Standard Constructors
Sphere2();
Sphere2(const gtsam::Point3& pose);
// Testable
void print(string s) const;
bool equals(const gtsam::Sphere2& pose, double tol) const;
// Other functionality
Matrix basis() const;
Matrix skew() const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Sphere2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Sphere2& s) const;
};
#include <gtsam/geometry/EssentialMatrix.h>
virtual class EssentialMatrix : gtsam::Value {
// Standard Constructors
EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Sphere2& aTb);
// Testable
void print(string s) const;
bool equals(const gtsam::EssentialMatrix& pose, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::EssentialMatrix retract(Vector v) const;
Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
// Other methods:
gtsam::Rot3 rotation() const;
gtsam::Sphere2 direction() const;
Matrix matrix() const;
double error(Vector vA, Vector vB);
};
virtual class Cal3_S2 : gtsam::Value { virtual class Cal3_S2 : gtsam::Value {
// Standard Constructors // Standard Constructors
Cal3_S2(); Cal3_S2();