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Merge pull request #532 from borglab/feature/logmap_wrap 

Adding logmap API which takes the object to the function argument
release/4.3a0
Frank Dellaert 2020-09-21 11:10:53 -04:00 committed by GitHub
parent 1178f688d8 1d0b9d510e
commit 2f62761304
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 0 deletions
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gtsam/gtsam.i
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@ -390,6 +390,7 @@ class LieVector {
// Lie group
static gtsam::LieVector Expmap(Vector v);
static Vector Logmap(const gtsam::LieVector& p);
Vector logmap(const gtsam::LieVector& p);
// enabling serialization functionality
void serialize() const;
@ -422,6 +423,7 @@ class LieMatrix {
// Lie group
static gtsam::LieMatrix Expmap(Vector v);
static Vector Logmap(const gtsam::LieMatrix& p);
Vector logmap(const gtsam::LieMatrix& p);
// enabling serialization functionality
void serialize() const;
@ -567,6 +569,7 @@ class Rot2 {
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p);
Vector logmap(const gtsam::Rot2& p);
// Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const;
@ -727,6 +730,7 @@ class Rot3 {
// Standard Interface
static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p);
Vector logmap(const gtsam::Rot3& p);
Matrix matrix() const;
Matrix transpose() const;
gtsam::Point3 column(size_t index) const;
@ -772,6 +776,7 @@ class Pose2 {
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p);
static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const;
@ -825,6 +830,7 @@ class Pose3 {
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& pose);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix adjointMap_(Vector xi);