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prototype object map

release/4.3a0
Frank Dellaert 2010-02-28 09:09:12 +00:00
parent dcfe52dae7
commit 85784400c6
1 changed files with 44 additions and 17 deletions
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61
cpp/Pose3.cpp
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@ -16,6 +16,21 @@ namespace gtsam {
/** Explicit instantiation of base class to export members */ /** Explicit instantiation of base class to export members */
INSTANTIATE_LIE(Pose3); INSTANTIATE_LIE(Pose3);
static const Matrix I3 = eye(3), I6 = eye(6), Z3 = zeros(3, 3);
/* ************************************************************************* */
// Calculate Adjoint map
// Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi)
// Experimental - unit tests of derivatives based on it do not check out yet
static Matrix AdjointMap(const Pose3& p) {
const Matrix R = p.rotation().matrix();
const Vector t = p.translation().vector();
Matrix A = skewSymmetric(t)*R;
Matrix DR = collect(2, &R, &Z3);
Matrix Dt = collect(2, &A, &R);
return gtsam::stack(2, &DR, &Dt);
}
/* ************************************************************************* */ /* ************************************************************************* */
void Pose3::print(const string& s) const { void Pose3::print(const string& s) const {
R_.print(s + ".R"); R_.print(s + ".R");
@ -40,7 +55,7 @@ namespace gtsam {
return Pose3(Rot3(), expmap<Point3> (u)); return Pose3(Rot3(), expmap<Point3> (u));
else { else {
Matrix W = skewSymmetric(w/t); Matrix W = skewSymmetric(w/t);
Matrix A = eye(3, 3) + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W); Matrix A = I3 + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W);
return Pose3(expmap<Rot3> (w), expmap<Point3> (A * u)); return Pose3(expmap<Rot3> (w), expmap<Point3> (A * u));
} }
} }
@ -52,7 +67,7 @@ namespace gtsam {
return concatVectors(2, &w, &T); return concatVectors(2, &w, &T);
else { else {
Matrix W = skewSymmetric(w/t); Matrix W = skewSymmetric(w/t);
Matrix Ainv = eye(3, 3) - 0.5*t* W + ((2*sin(t)-t*(1+cos(t)))/2*sin(t)) * (W * W); Matrix Ainv = I3 - 0.5*t* W + ((2*sin(t)-t*(1+cos(t)))/2*sin(t)) * (W * W);
Vector u = Ainv*T; Vector u = Ainv*T;
return concatVectors(2, &w, &u); return concatVectors(2, &w, &u);
} }
@ -104,8 +119,7 @@ namespace gtsam {
#else #else
Matrix DR = Drotate1(pose.rotation(), p); Matrix DR = Drotate1(pose.rotation(), p);
#endif #endif
Matrix Dt = eye(3); return collect(2,&DR,&I3);
return collect(2,&DR,&Dt);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -133,36 +147,49 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
// compose = Pose3(compose(R1,R2),transform_from(p1,t2); // compose = Pose3(compose(R1,R2),transform_from(p1,t2)
Matrix Dcompose1(const Pose3& p1, const Pose3& p2) { Matrix Dcompose1(const Pose3& p1, const Pose3& p2) {
Matrix DR_R1 = p2.rotation().transpose(); #ifdef SLOW_BUT_CORRECT_EXPMAP
Matrix DR_t1 = zeros(3, 3); // actually does NOT pan out at the moment
return AdjointMap(p2);
#else
const Rot3& R2 = p2.rotation();
const Point3& t2 = p2.translation();
Matrix DR_R1 = R2.transpose(), DR_t1 = Z3;
Matrix DR = collect(2, &DR_R1, &DR_t1); Matrix DR = collect(2, &DR_R1, &DR_t1);
Matrix Dt = Dtransform_from1(p1, p2.translation()); Matrix Dt = Dtransform_from1(p1, t2);
return gtsam::stack(2, &DR, &Dt); return gtsam::stack(2, &DR, &Dt);
#endif
} }
Matrix Dcompose2(const Pose3& p1, const Pose3& p2) { Matrix Dcompose2(const Pose3& p1, const Pose3& p2) {
#ifdef SLOW_BUT_CORRECT_EXPMAP
return I6;
#else
Matrix R1 = p1.rotation().matrix(); Matrix R1 = p1.rotation().matrix();
const static Matrix I = eye(3,3); Matrix DR = collect(2, &I3, &Z3);
const static Matrix Z3 = zeros(3, 3);
Matrix DR = collect(2, &I, &Z3);
Matrix Dt = collect(2, &Z3, &R1); Matrix Dt = collect(2, &Z3, &R1);
return gtsam::stack(2, &DR, &Dt); return gtsam::stack(2, &DR, &Dt);
#endif
} }
/* ************************************************************************* */ /* ************************************************************************* */
// inverse = Pose3(inverse(R),-unrotate(R,t)); // inverse = Pose3(inverse(R),-unrotate(R,t));
// TODO: combined function will save !
Matrix Dinverse(const Pose3& p) { Matrix Dinverse(const Pose3& p) {
Matrix Rt = p.rotation().transpose(); #ifdef SLOW_BUT_CORRECT_EXPMAP
Matrix DR_R1 = -p.rotation().matrix(); // actually does NOT pan out at the moment
Matrix DR_t1 = zeros(3, 3); return - AdjointMap(p);
#else
const Rot3& R = p.rotation();
const Point3& t = p.translation();
Matrix Rt = R.transpose();
Matrix DR_R1 = -R.matrix(), DR_t1 = Z3;
Matrix Dt_R1 = -skewSymmetric(unrotate(R,t).vector()), Dt_t1 = -Rt;
Matrix DR = collect(2, &DR_R1, &DR_t1); Matrix DR = collect(2, &DR_R1, &DR_t1);
Matrix Dt_R1 = -skewSymmetric(unrotate(p.rotation(),p.translation()).vector());
Matrix Dt_t1 = -Rt;
Matrix Dt = collect(2, &Dt_R1, &Dt_t1); Matrix Dt = collect(2, &Dt_R1, &Dt_t1);
return gtsam::stack(2, &DR, &Dt); return gtsam::stack(2, &DR, &Dt);
#endif
} }
/* ************************************************************************* */ /* ************************************************************************* */