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Added some missing methods to Rot3 and synced order of methods with Rot3.h

release/4.3a0
Frank Dellaert 2012-01-15 03:57:35 +00:00
parent e9bf0971f0
commit 1a10fc451c
1 changed files with 16 additions and 10 deletions
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gtsam.h
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@ -114,9 +114,6 @@ class Rot2 {
class Rot3 { class Rot3 {
Rot3(); Rot3();
Rot3(Matrix R); Rot3(Matrix R);
static Rot3 Expmap(Vector v);
static Vector Logmap(const Rot3& p);
static Rot3 ypr(double y, double p, double r);
static Rot3 Rx(double t); static Rot3 Rx(double t);
static Rot3 Ry(double t); static Rot3 Ry(double t);
static Rot3 Rz(double t); static Rot3 Rz(double t);
@ -125,23 +122,32 @@ class Rot3 {
static Rot3 yaw (double t); // positive yaw is to right (as in aircraft heading) static Rot3 yaw (double t); // positive yaw is to right (as in aircraft heading)
static Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude) static Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
static Rot3 roll (double t); // positive roll is to right (increasing yaw in aircraft) static Rot3 roll (double t); // positive roll is to right (increasing yaw in aircraft)
static Rot3 ypr(double y, double p, double r);
static Rot3 quaternion(double w, double x, double y, double z); static Rot3 quaternion(double w, double x, double y, double z);
static Rot3 rodriguez(Vector v); static Rot3 rodriguez(Vector v);
void print(string s) const;
bool equals(const Rot3& rot, double tol) const;
static Rot3 identity();
Rot3 compose(const Rot3& p2) const;
Rot3 inverse() const;
Rot3 between(const Rot3& p2) const;
Point3 rotate(const Point3& p) const;
Point3 unrotate(const Point3& p) const;
Rot3 retractCayley(Vector v) const;
Rot3 retract(Vector v) const;
Vector localCoordinates(const Rot3& p) const;
static Rot3 Expmap(Vector v);
static Vector Logmap(const Rot3& p);
Matrix matrix() const; Matrix matrix() const;
Matrix transpose() const; Matrix transpose() const;
Point3 column(int index) const;
Vector xyz() const; Vector xyz() const;
Vector ypr() const; Vector ypr() const;
Vector rpy() const;
double roll() const; double roll() const;
double pitch() const; double pitch() const;
double yaw() const; double yaw() const;
// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
void print(string s) const;
bool equals(const Rot3& rot, double tol) const;
Vector localCoordinates(const Rot3& p);
Rot3 retract(Vector v);
Rot3 retractCayley(Vector v);
Rot3 compose(const Rot3& p2);
Rot3 between(const Rot3& p2);
}; };
class Pose2 { class Pose2 {