Merged in feature/adjoint_operators (pull request #364)

Feature/adjoint operators

Approved-by: Mandy Xie <manxie@gatech.edu>

cython/gtsam/tests/test_Pose3.py

@@ -1,25 +1,32 @@
+"""Pose3 unit tests."""
 import math
 import unittest
 
-from gtsam import Point3, Rot3, Pose3
+import numpy as np
+
+from gtsam import Point3, Pose3, Rot3
 
 
 class TestPose3(unittest.TestCase):
+    """Test selected Pose3 methods."""
 
-    def test__between(self):
+    def test_between(self):
-        T2 = Pose3(Rot3.Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2))
+        """Test between method."""
+        T2 = Pose3(Rot3.Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2))
         T3 = Pose3(Rot3.Rodrigues(-90, 0, 0), Point3(1, 2, 3))
         expected = T2.inverse().compose(T3)
         actual = T2.between(T3)
         self.assertTrue(actual.equals(expected, 1e-6))
 
     def test_transform_to(self):
-        transform = Pose3(Rot3.Rodrigues(0,0,-1.570796), Point3(2,4, 0))
+        """Test transform_to method."""
-        actual = transform.transform_to(Point3(3,2,10))
+        transform = Pose3(Rot3.Rodrigues(0, 0, -1.570796), Point3(2, 4, 0))
-        expected = Point3 (2,1,10)
+        actual = transform.transform_to(Point3(3, 2, 10))
+        expected = Point3(2, 1, 10)
         self.assertTrue(actual.equals(expected, 1e-6))
 
     def test_range(self):
+        """Test range method."""
         l1 = Point3(1, 0, 0)
         l2 = Point3(1, 1, 0)
         x1 = Pose3()
@@ -28,16 +35,23 @@ class TestPose3(unittest.TestCase):
         xl2 = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
 
         # establish range is indeed zero
-        self.assertEqual(1,x1.range(point=l1))
+        self.assertEqual(1, x1.range(point=l1))
 
         # establish range is indeed sqrt2
-        self.assertEqual(math.sqrt(2.0),x1.range(point=l2))
+        self.assertEqual(math.sqrt(2.0), x1.range(point=l2))
 
         # establish range is indeed zero
-        self.assertEqual(1,x1.range(pose=xl1))
+        self.assertEqual(1, x1.range(pose=xl1))
-        
+
         # establish range is indeed sqrt2
-        self.assertEqual(math.sqrt(2.0),x1.range(pose=xl2))
+        self.assertEqual(math.sqrt(2.0), x1.range(pose=xl2))
+
+    def test_adjoint(self):
+        """Test adjoint method."""
+        xi = np.array([1, 2, 3, 4, 5, 6])
+        expected = np.dot(Pose3.adjointMap(xi), xi)
+        actual = Pose3.adjoint(xi, xi)
+        np.testing.assert_array_equal(actual, expected)
 
 
 if __name__ == "__main__":

gtsam.h

@@ -573,8 +573,13 @@ class Pose2 {
   // Lie Group
   static gtsam::Pose2 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose2& p);
+  static Matrix ExpmapDerivative(Vector v);
+  static Matrix LogmapDerivative(const gtsam::Pose2& v);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  static Matrix adjointMap(Vector v);
+  Vector adjoint(Vector xi, Vector y);
+  Vector adjointTranspose(Vector xi, Vector y);
   static Matrix wedge(double vx, double vy, double w);
 
   // Group Actions on Point2
@@ -623,6 +628,11 @@ class Pose3 {
   static Vector Logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  static Matrix adjointMap(Vector xi);
+  static Vector adjoint(Vector xi, Vector y);
+  static Vector adjointTranspose(Vector xi, Vector y);
+  static Matrix ExpmapDerivative(Vector xi);
+  static Matrix LogmapDerivative(const gtsam::Pose3& xi);
   static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
 
   // Group Action on Point3

gtsam/geometry/Pose2.h

@@ -132,6 +132,8 @@ public:
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
   Matrix3 AdjointMap() const;
+
+  /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
     return AdjointMap()*xi;
   }
@@ -141,6 +143,20 @@ public:
    */
   static Matrix3 adjointMap(const Vector3& v);
 
+  /**
+   * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
+   */
+  Vector3 adjoint(const Vector3& xi, const Vector3& y) {
+    return adjointMap(xi) * y;
+  }
+
+  /**
+   * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
+   */
+  Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
+    return adjointMap(xi).transpose() * y;
+  }
+
   /**
    * wedge for SE(2):
    * @param xi 3-dim twist (v,omega) where