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a bit more specific on between, as it can be confusing

release/4.3a0
Frank Dellaert 2012-01-24 03:12:03 +00:00
parent 7aa6a04572
commit 2ef0432df4
1 changed files with 9 additions and 9 deletions
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18
gtsam/geometry/Point2.h
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@ -77,34 +77,34 @@ public:
return Point2(); return Point2();
} }
/// "Inverse" - negates each coordinate such that compose(p,inverse(p))=Point2() /// "Inverse" - negates each coordinate such that compose(p,inverse(p)) == identity()
inline Point2 inverse() const { return Point2(-x_, -y_); } inline Point2 inverse() const { return Point2(-x_, -y_); }
/// syntactic sugar for inverse /// syntactic sugar for inverse, i.e., -p == inverse(p)
inline Point2 operator- () const {return Point2(-x_,-y_);} inline Point2 operator- () const {return Point2(-x_,-y_);}
/// "Compose", just adds the coordinates of two points. With optional derivatives /// "Compose", just adds the coordinates of two points. With optional derivatives
inline Point2 compose(const Point2& p2, inline Point2 compose(const Point2& q,
boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const { boost::optional<Matrix&> H2=boost::none) const {
if(H1) *H1 = eye(2); if(H1) *H1 = eye(2);
if(H2) *H2 = eye(2); if(H2) *H2 = eye(2);
return *this + p2; return *this + q;
} }
/// syntactic sugar for adding two points (compose()) /// syntactic sugar for adding two points, i.e., p+q == compose(p,q)
inline Point2 operator + (const Point2& q) const {return Point2(x_+q.x_,y_+q.y_);} inline Point2 operator + (const Point2& q) const {return Point2(x_+q.x_,y_+q.y_);}
/// "Between", subtracts point coordinates. between(p,q) = compose(inverse(p),q) /// "Between", subtracts point coordinates. between(p,q) == compose(inverse(p),q)
inline Point2 between(const Point2& p2, inline Point2 between(const Point2& q,
boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const { boost::optional<Matrix&> H2=boost::none) const {
if(H1) *H1 = -eye(2); if(H1) *H1 = -eye(2);
if(H2) *H2 = eye(2); if(H2) *H2 = eye(2);
return p2 - (*this); return q - (*this);
} }
/// syntactic sugar for vector subtraction, i.e., between() /// syntactic sugar for subtracting points, i.e., q-p == between(p,q)
inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);} inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);}
/// @} /// @}