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Add more wrapped functions

release/4.3a0
Travis Driver 2023-05-02 23:00:53 -04:00
parent a8e55e549a
commit 90eac3565c
1 changed files with 9 additions and 0 deletions
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9
gtsam/geometry/geometry.i
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@ -125,6 +125,10 @@ class Point3 {
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
// Other methods
gtsam::Point3 normalize(const gtsam::Point3 &p) const;
gtsam::Point3 normalize(const gtsam::Point3 &p, Eigen::Ref<Eigen::MatrixXd> H) const;
}; };
class Point3Pairs { class Point3Pairs {
@ -342,6 +346,9 @@ class Rot3 {
// Group action on Unit3 // Group action on Unit3
gtsam::Unit3 rotate(const gtsam::Unit3& p) const; gtsam::Unit3 rotate(const gtsam::Unit3& p) const;
gtsam::Unit3 rotate(const gtsam::Unit3& p,
Eigen::Ref<Eigen::MatrixXd> HR,
Eigen::Ref<Eigen::MatrixXd> Hp) const;
gtsam::Unit3 unrotate(const gtsam::Unit3& p) const; gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
// Standard Interface // Standard Interface
@ -582,6 +589,8 @@ class Unit3 {
size_t dim() const; size_t dim() const;
gtsam::Unit3 retract(Vector v) const; gtsam::Unit3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Unit3& s) const; Vector localCoordinates(const gtsam::Unit3& s) const;
gtsam::Unit3 FromPoint3(const gtsam::Point3& point) const;
gtsam::Unit3 FromPoint3(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> H) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;