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Adds jacobians for Pose2 component extraction 

Adds jacobians to translation() and rotation() for Pose2 to bring it
into spec with Pose3's equilivent functions. Also adds tests.
release/4.3a0
Dan McGann 2023-03-27 17:28:45 -04:00 committed by Fan Jiang
parent 6e8952b5e8
commit 64cb67ba3c
3 changed files with 46 additions and 4 deletions
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15
gtsam/geometry/Pose2.cpp
View File

@ -32,6 +32,21 @@ GTSAM_CONCEPT_POSE_INST(Pose2)
static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.));
/* ************************************************************************* */
const Point2 &Pose2::translation(OptionalJacobian<2, 3> Hself) const {
if (Hself) {
*Hself = Matrix::Zero(2, 3);
(*Hself).block<2, 2>(0, 0) = rotation().matrix();
}
return t_;
}
/* ************************************************************************* */
const Rot2& Pose2::rotation(OptionalJacobian<1, 3> Hself) const {
if (Hself) *Hself << 0, 0, 1;
return r_;
}
/* ************************************************************************* */
Matrix3 Pose2::matrix() const {
Matrix2 R = r_.matrix();

8
gtsam/geometry/Pose2.h
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@ -249,16 +249,16 @@ public:
inline double theta() const { return r_.theta(); }
/// translation
inline const Point2& t() const { return t_; }
inline const Point2& t() const { return translation(); }
/// rotation
inline const Rot2& r() const { return r_; }
inline const Rot2& r() const { return rotation(); }
/// translation
inline const Point2& translation() const { return t_; }
const Point2& translation(OptionalJacobian<2, 3> Hself={}) const;
/// rotation
inline const Rot2& rotation() const { return r_; }
const Rot2& rotation(OptionalJacobian<1, 3> Hself={}) const;
//// return transformation matrix
GTSAM_EXPORT Matrix3 matrix() const;

27
gtsam/geometry/tests/testPose2.cpp
View File

@ -474,6 +474,33 @@ TEST( Pose2, compose_matrix )
EXPECT(assert_equal(gM1*_1M2,matrix(gT1.compose(_1T2)))); // RIGHT DOES NOT
}
/* ************************************************************************* */
TEST( Pose2, translation ) {
Pose2 pose(3.5, -8.2, 4.2);
Matrix actualH;
EXPECT(assert_equal((Vector2() << 3.5, -8.2).finished(), pose.translation(actualH), 1e-8));
std::function<Point2(const Pose2&)> f = [](const Pose2& T) { return T.translation(); };
Matrix numericalH = numericalDerivative11<Point2, Pose2>(f, pose);
EXPECT(assert_equal(numericalH, actualH, 1e-6));
}
/* ************************************************************************* */
TEST( Pose2, rotation ) {
Pose2 pose(3.5, -8.2, 4.2);
Matrix actualH(4, 3);
EXPECT(assert_equal(Rot2(4.2), pose.rotation(actualH), 1e-8));
std::function<Rot2(const Pose2&)> f = [](const Pose2& T) { return T.rotation(); };
Matrix numericalH = numericalDerivative11<Rot2, Pose2>(f, pose);
EXPECT(assert_equal(numericalH, actualH, 1e-6));
}
/* ************************************************************************* */
TEST( Pose2, between )
{