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Merge pull request #1520 from borglab/fan/cmake_rot2_option

release/4.3a0
Varun Agrawal 2023-07-01 23:45:10 -04:00 committed by GitHub
parent 4c0cd2275b d87db0a2f1
commit 7703b7dca2
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 14 additions and 4 deletions
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1
cmake/HandleGeneralOptions.cmake
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@ -31,6 +31,7 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43 "Allow use of methods/functions depr
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" OFF)
if (GTSAM_FORCE_SHARED_LIB)
message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")

2
gtsam/config.h.in
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@ -83,3 +83,5 @@
// Toggle switch for BetweenFactor jacobian computation
#cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR
#cmakedefine GTSAM_SLOW_BUT_CORRECT_EXPMAP

4
gtsam/geometry/Pose2.cpp
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@ -97,7 +97,7 @@ Vector3 Pose2::Logmap(const Pose2& p, OptionalJacobian<3, 3> H) {
/* ************************************************************************* */
Pose2 Pose2::ChartAtOrigin::Retract(const Vector3& v, ChartJacobian H) {
#ifdef SLOW_BUT_CORRECT_EXPMAP
#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
return Expmap(v, H);
#else
if (H) {
@ -109,7 +109,7 @@ Pose2 Pose2::ChartAtOrigin::Retract(const Vector3& v, ChartJacobian H) {
}
/* ************************************************************************* */
Vector3 Pose2::ChartAtOrigin::Local(const Pose2& r, ChartJacobian H) {
#ifdef SLOW_BUT_CORRECT_EXPMAP
#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
return Logmap(r, H);
#else
if (H) {

7
gtsam/geometry/geometry.i
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@ -166,7 +166,9 @@ class Rot2 {
// Manifold
gtsam::Rot2 retract(Vector v) const;
gtsam::Rot2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector localCoordinates(const gtsam::Rot2& p) const;
Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
@ -397,19 +399,24 @@ class Pose2 {
static gtsam::Pose2 Identity();
gtsam::Pose2 inverse() const;
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
gtsam::Pose2 compose(const gtsam::Pose2& p2, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Operator Overloads
gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
// Manifold
gtsam::Pose2 retract(Vector v) const;
gtsam::Pose2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector localCoordinates(const gtsam::Pose2& p) const;
Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const;

4
gtsam/geometry/tests/testPose2.cpp
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@ -66,7 +66,7 @@ TEST(Pose2, manifold) {
/* ************************************************************************* */
TEST(Pose2, retract) {
Pose2 pose(M_PI/2.0, Point2(1, 2));
#ifdef SLOW_BUT_CORRECT_EXPMAP
#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
Pose2 expected(1.00811, 2.01528, 2.5608);
#else
Pose2 expected(M_PI/2.0+0.99, Point2(1.015, 2.01));
@ -204,7 +204,7 @@ TEST(Pose2, Adjoint_hat) {
TEST(Pose2, logmap) {
Pose2 pose0(M_PI/2.0, Point2(1, 2));
Pose2 pose(M_PI/2.0+0.018, Point2(1.015, 2.01));
#ifdef SLOW_BUT_CORRECT_EXPMAP
#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
Vector3 expected(0.00986473, -0.0150896, 0.018);
#else
Vector3 expected(0.01, -0.015, 0.018);