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Added Vector3 methods from develop

release/4.3a0
Frank Dellaert 2015-12-21 15:11:35 -08:00
parent be47a2ef15
commit 84628cd511
1 changed files with 17 additions and 0 deletions
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17
gtsam/geometry/Rot3.h
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@ -330,6 +330,17 @@ namespace gtsam {
Point3 rotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none,
OptionalJacobian<3,3> H2 = boost::none) const;
/// operator* for Vector3
inline Vector3 operator*(const Vector3& v) const {
return rotate(Point3(v)).vector();
}
/// rotate for Vector3
Vector3 rotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) const {
return rotate(Point3(v), H1, H2).vector();
}
/// rotate point from rotated coordinate frame to world = R*p
Point3 operator*(const Point3& p) const;
@ -337,6 +348,12 @@ namespace gtsam {
Point3 unrotate(const Point3& p, OptionalJacobian<3,3> H1 = boost::none,
OptionalJacobian<3,3> H2=boost::none) const;
/// unrotate for Vector3
Vector3 unrotate(const Vector3& v, OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) const {
return unrotate(Point3(v), H1, H2).vector();
}
/// @}
/// @name Group Action on Unit3
/// @{