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Add quaternion() method, use properly quaternion named constructor, and add some comments on RzRyRx

release/4.3a0
Ellon Mendes 2015-12-11 18:19:05 +01:00
parent 868f1511fc
commit 383986902a
1 changed files with 6 additions and 4 deletions
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10
python/handwritten/geometry/Rot3.cpp
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@ -27,12 +27,12 @@ using namespace gtsam;
static Rot3 Quaternion_0(const Vector4& q)
{
return Rot3(Quaternion(q[0],q[1],q[2],q[3]));
return Rot3::quaternion(q[0],q[1],q[2],q[3]);
}
static Rot3 Quaternion_1(double w, double x, double y, double z)
{
return Rot3(Quaternion(w,x,y,z));
return Rot3::quaternion(w,x,y,z);
}
// Prototypes used to perform overloading
@ -43,6 +43,7 @@ gtsam::Rot3 (*Rodrigues_0)(const Vector3&) = &Rot3::Rodrigues;
gtsam::Rot3 (*Rodrigues_1)(double, double, double) = &Rot3::Rodrigues;
gtsam::Rot3 (*RzRyRx_0)(double, double, double) = &Rot3::RzRyRx;
gtsam::Rot3 (*RzRyRx_1)(const Vector&) = &Rot3::RzRyRx;
Vector (Rot3::*quaternion_0)() const = &Rot3::quaternion;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot3::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot3::equals, 1, 2)
@ -77,8 +78,8 @@ void exportRot3(){
.staticmethod("Ry")
.def("Rz", &Rot3::Rz)
.staticmethod("Rz")
.def("RzRyRx", RzRyRx_0)
.def("RzRyRx", RzRyRx_1)
.def("RzRyRx", RzRyRx_0, (arg("x"),arg("y"),arg("z")), "Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis" )
.def("RzRyRx", RzRyRx_1, arg("xyz"), "Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis" )
.staticmethod("RzRyRx")
.def("identity", &Rot3::identity)
.staticmethod("identity")
@ -99,6 +100,7 @@ void exportRot3(){
.def("slerp", &Rot3::slerp)
.def("transpose", &Rot3::transpose)
.def("xyz", &Rot3::xyz)
.def("quaternion", quaternion_0)
.def(self * self)
.def(self * other<Point3>())
.def(self * other<Unit3>())