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Wrap OrientedPlane3

release/4.3a0
p-zach 2025-04-26 20:14:48 -04:00
parent e226cdde9f
commit 25a2deb952
1 changed files with 39 additions and 0 deletions
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39
gtsam/geometry/geometry.i
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@ -694,6 +694,45 @@ class Unit3 {
bool equals(const gtsam::Unit3& expected, double tol) const;
};
#include <gtsam/geometry/OrientedPlane3.h>
class OrientedPlane3 {
// Standard constructors
OrientedPlane3();
OrientedPlane3(const gtsam::Unit3& n, double d);
OrientedPlane3(const gtsam::Vector& vec);
OrientedPlane3(double a, double b, double c, double d);
// Testable
void print(string s = "") const;
bool equals(const gtsam::OrientedPlane3& s, double tol = 1e-9) const;
gtsam::OrientedPlane3 transform(const gtsam::Pose3& xr) const;
gtsam::OrientedPlane3 transform(const gtsam::Pose3& xr,
Eigen::Ref<Eigen::MatrixXd> Hp,
Eigen::Ref<Eigen::MatrixXd> Hr) const;
gtsam::Vector3 errorVector(const gtsam::OrientedPlane3& other) const;
gtsam::Vector3 errorVector(const gtsam::OrientedPlane3& other,
Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
static size_t Dim();
size_t dim() const;
gtsam::OrientedPlane3 retract(const gtsam::Vector3& v) const;
gtsam::OrientedPlane3 retract(const gtsam::Vector3& v,
Eigen::Ref<Eigen::MatrixXd> H) const;
gtsam::Vector3 localCoordinates(const gtsam::OrientedPlane3& s) const;
gtsam::Vector planeCoefficients() const;
gtsam::Unit3 normal() const;
gtsam::Unit3 normal(Eigen::Ref<Eigen::MatrixXd> H) const;
double distance() const;
double distance(Eigen::Ref<Eigen::MatrixXd> H) const;
};
#include <gtsam/geometry/EssentialMatrix.h>
class EssentialMatrix {
// Standard Constructors