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added jacobians for all pose3 methods in python wrappers

release/4.3a0
yotams 2022-07-04 11:27:49 +03:00
parent 33c9a34ff8
commit 3595e8588c
3 changed files with 46 additions and 0 deletions
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5
gtsam/geometry/Pose3.cpp
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@ -489,6 +489,11 @@ boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
}
#endif
/* ************************************************************************* */
Pose3 Pose3::interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx, OptionalJacobian<6, 6> Hy) const {
return interpolate(*this, other, t, Hx, Hy);
}
/* ************************************************************************* */
std::ostream &operator<<(std::ostream &os, const Pose3& pose) {
// Both Rot3 and Point3 have ostream definitions so we use them.

8
gtsam/geometry/Pose3.h
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@ -379,6 +379,14 @@ public:
return std::make_pair(0, 2);
}
/**
* @brief Spherical Linear interpolation between *this and other
* @param s a value between 0 and 1.5
* @param other final point of interpolation geodesic on manifold
*/
Pose3 interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx = boost::none,
OptionalJacobian<6, 6> Hy = boost::none) const;
/// Output stream operator
GTSAM_EXPORT
friend std::ostream &operator<<(std::ostream &os, const Pose3& p);

33
gtsam/geometry/geometry.i
View File

@ -446,24 +446,43 @@ class Pose3 {
// Group
static gtsam::Pose3 identity();
gtsam::Pose3 inverse() const;
gtsam::Pose3 inverse(Eigen::Ref<Eigen::MatrixXd> H) const;
gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
gtsam::Pose3 compose(const gtsam::Pose3& pose,
Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
gtsam::Pose3 between(const gtsam::Pose3& pose) const;
gtsam::Pose3 between(const gtsam::Pose3& pose,
Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
gtsam::Pose3 interp(double t, const gtsam::Pose3& pose) const;
gtsam::Pose3 interp(double t, const gtsam::Pose3& pose,
Eigen::Ref<Eigen::MatrixXd> Hx,
Eigen::Ref<Eigen::MatrixXd> Hy) const;
// Operator Overloads
gtsam::Pose3 operator*(const gtsam::Pose3& pose) const;
// Manifold
gtsam::Pose3 retract(Vector v) const;
gtsam::Pose3 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
Vector localCoordinates(const gtsam::Pose3& pose) const;
Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static gtsam::Pose3 Expmap(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi);
static Vector Logmap(const gtsam::Pose3& pose);
static Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
gtsam::Pose3 expmap(Vector v);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
Vector Adjoint(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_xib) const;
Vector AdjointTranspose(Vector xi) const;
Vector AdjointTranspose(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_x) const;
static Matrix adjointMap(Vector xi);
static Vector adjoint(Vector xi, Vector y);
static Matrix adjointMap_(Vector xi);
@ -476,7 +495,11 @@ class Pose3 {
// Group Action on Point3
gtsam::Point3 transformFrom(const gtsam::Point3& point) const;
gtsam::Point3 transformFrom(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
gtsam::Point3 transformTo(const gtsam::Point3& point) const;
gtsam::Point3 transformTo(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
// Matrix versions
Matrix transformFrom(const Matrix& points) const;
@ -484,15 +507,25 @@ class Pose3 {
// Standard Interface
gtsam::Rot3 rotation() const;
gtsam::Rot3 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
gtsam::Point3 translation() const;
gtsam::Point3 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
double x() const;
double y() const;
double z() const;
Matrix matrix() const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> HaTb) const;
gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const;
gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> HwTb) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> Hpoint);
double range(const gtsam::Pose3& pose);
double range(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> Hpose);
// enabling serialization functionality
void serialize() const;