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Just refactoring

release/4.3a0
Frank Dellaert 2010-01-08 03:38:05 +00:00
parent f684becf1f
commit 8d22b3aca2
2 changed files with 31 additions and 36 deletions
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63
cpp/Pose3.cpp
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@ -130,44 +130,35 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
/* // compose = Pose3(compose(R1,R2),transform_from(p1,t2);
Pose3 compose(const Pose3& p1, const Pose3& p2) {
return Pose3(compose(p1.rotation(),p2.rotation()),transform_from(p1,p2.translation()); Matrix Dcompose1(const Pose3& p1, const Pose3& p2) {
} Matrix DR_R1 = eye(3);
*/ Matrix DR_t1 = zeros(3, 3);
Matrix DR = collect(2, &DR_R1, &DR_t1);
Matrix Dt = Dtransform_from1(p1, p2.translation());
return stack(2, &DR, &Dt);
}
Matrix Dcompose2(const Pose3& p1, const Pose3& p2) {
Matrix R1 = p1.rotation().matrix(), Z3 = zeros(3, 3);
Matrix DR = collect(2, &R1, &Z3);
Matrix Dt = collect(2, &Z3, &R1);
return stack(2, &DR, &Dt);
}
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Dcompose1(const Pose3& p1, const Pose3& p2){ // inverse = Pose3(inverse(R),-unrotate(R,t));
Matrix DR_R1 = eye(3); Matrix Dinverse(const Pose3& p) {
Matrix DR_t1 = zeros(3,3); Matrix Rt = p.rotation().transpose();
Matrix DR = collect(2,&DR_R1,&DR_t1); Matrix DR_R1 = -Rt;
Matrix Dt = Dtransform_from1(p1,p2.translation()); Matrix DR_t1 = zeros(3, 3);
return stack(2,&DR,&Dt); Matrix DR = collect(2, &DR_R1, &DR_t1);
} Matrix Dt_R1 = -(skewSymmetric(Rt * p.translation().vector()) * Rt);
Matrix Dt_t1 = -Rt;
/* ************************************************************************* */ Matrix Dt = collect(2, &Dt_R1, &Dt_t1);
Matrix Dcompose2(const Pose3& p1, const Pose3& p2){ return stack(2, &DR, &Dt);
Matrix DR_R2 = p1.rotation().matrix(); }
Matrix DR_t2 = zeros(3,3);
Matrix DR = collect(2,&DR_R2,&DR_t2);
Matrix Dt_R2 = zeros(3,3);
Matrix Dt_t2 = Dtransform_from2(p1);
Matrix Dt = collect(2,&Dt_R2,&Dt_t2);
return stack(2,&DR,&Dt);
}
/* ************************************************************************* */
// inverse = Pose3(inverse(p.rotation()),-unrotate(p.rotation(),p.translation()));
Matrix Dinverse(const Pose3& p){
Matrix Rt = p.rotation().transpose();
Matrix DR_R1 = -Rt;
Matrix DR_t1 = zeros(3,3);
Matrix DR = collect(2,&DR_R1,&DR_t1);
Matrix Dt_R1 = - (skewSymmetric(Rt*p.translation().vector()) * Rt);
Matrix Dt_t1 = - Rt;
Matrix Dt = collect(2,&Dt_R1,&Dt_t1);
return stack(2,&DR,&Dt);
}
/* ************************************************************************* */ /* ************************************************************************* */
// between = compose(p2,inverse(p1)); // between = compose(p2,inverse(p1));

4
cpp/testPose3.cpp
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@ -54,6 +54,10 @@ TEST(Pose3, expmap_b)
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Pose3, compose ) TEST( Pose3, compose )
{ {
Rot3 R = rodriguez(0.3,0.2,0.1);
Point3 t(3.5,-8.2,4.2);
Pose3 T(R,t);
Matrix actual = (T*T).matrix(); Matrix actual = (T*T).matrix();
Matrix expected = T.matrix()*T.matrix(); Matrix expected = T.matrix()*T.matrix();
CHECK(assert_equal(actual,expected,error)); CHECK(assert_equal(actual,expected,error));