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Added adjoint operators etc.

release/4.3a0
Frank Dellaert 2018-12-31 15:37:31 -05:00
parent eada1ee505
commit 409a0215b8
1 changed files with 10 additions and 0 deletions
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gtsam.h
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@ -573,8 +573,13 @@ class Pose2 {
// Lie Group // Lie Group
static gtsam::Pose2 Expmap(Vector v); static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p); static Vector Logmap(const gtsam::Pose2& p);
static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const; Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; Vector Adjoint(Vector xi) const;
static Matrix adjointMap(Vector v);
Vector adjoint(Vector xi, Vector y);
Vector adjointTranspose(Vector xi, Vector y);
static Matrix wedge(double vx, double vy, double w); static Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2 // Group Actions on Point2
@ -623,6 +628,11 @@ class Pose3 {
static Vector Logmap(const gtsam::Pose3& pose); static Vector Logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const; Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; Vector Adjoint(Vector xi) const;
static Matrix adjointMap(Vector xi);
static Vector adjoint(Vector xi, Vector y);
static Vector adjointTranspose(Vector xi, Vector y);
static Matrix ExpmapDerivative(Vector xi);
static Matrix LogmapDerivative(const gtsam::Pose3& xi);
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz); static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
// Group Action on Point3 // Group Action on Point3