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change: static method now calls the member method. Remove duplicate codes

release/4.3a0
lvzhaoyang 2015-06-25 11:31:47 -04:00
parent e45f5faea1
commit 7ebc9e48e5
2 changed files with 3 additions and 28 deletions
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27
gtsam/geometry/OrientedPlane3.cpp
View File

@ -31,33 +31,6 @@ void OrientedPlane3::print(const string& s) const {
cout << s << " : " << coeffs << endl;
}
/* ************************************************************************* */
OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane,
const Pose3& xr, OptionalJacobian<3, 6> Hr,
OptionalJacobian<3, 3> Hp) {
Matrix23 D_rotated_plane;
Matrix22 D_rotated_pose;
Unit3 n_rotated = xr.rotation().unrotate(plane.n_, D_rotated_plane, D_rotated_pose);
Vector3 unit_vec = n_rotated.unitVector();
double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_;
if (Hr) {
*Hr = zeros(3, 6);
Hr->block<2, 3>(0, 0) = D_rotated_plane;
Hr->block<1, 3>(2, 3) = unit_vec;
}
if (Hp) {
Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector();
*Hp = Z_3x3;
Hp->block<2, 2>(0, 0) = D_rotated_pose;
Hp->block<1, 2>(2, 0) = hpp;
(*Hp)(2, 2) = 1;
}
return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d);
}
/* ************************************************************************* */
OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp,
OptionalJacobian<3, 6> Hr) const {

4
gtsam/geometry/OrientedPlane3.h
View File

@ -99,7 +99,9 @@ public:
*/
static OrientedPlane3 Transform(const OrientedPlane3& plane,
const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none,
OptionalJacobian<3, 3> Hp = boost::none);
OptionalJacobian<3, 3> Hp = boost::none) {
return plane.transform(xr, Hp, Hr);
}
/** Computes the error between two planes.
* The error is a norm 1 difference in tangent space.