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Adding logmap API which applied a logarithmic map taking the object to the argument

release/4.3a0
Ayush Baid 2020-09-19 16:47:13 -04:00
parent 9350dd71ae
commit 9670b6661d
1 changed files with 9 additions and 0 deletions
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9
gtsam/gtsam.i
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@ -361,6 +361,7 @@ class LieScalar {
// Lie group
static gtsam::LieScalar Expmap(Vector v);
static Vector Logmap(const gtsam::LieScalar& p);
Vector logmap(const gtsam::LieScalar& p);
};
#include <gtsam/base/deprecated/LieVector.h>
@ -390,6 +391,7 @@ class LieVector {
// Lie group
static gtsam::LieVector Expmap(Vector v);
static Vector Logmap(const gtsam::LieVector& p);
Vector logmap(const gtsam::LieVector& p);
// enabling serialization functionality
void serialize() const;
@ -422,6 +424,7 @@ class LieMatrix {
// Lie group
static gtsam::LieMatrix Expmap(Vector v);
static Vector Logmap(const gtsam::LieMatrix& p);
Vector logmap(const gtsam::LieMatrix& p);
// enabling serialization functionality
void serialize() const;
@ -506,6 +509,7 @@ class StereoPoint2 {
// Lie Group
static gtsam::StereoPoint2 Expmap(Vector v);
static Vector Logmap(const gtsam::StereoPoint2& p);
Vector logmap(const gtsam::StereoPoint2& p);
// Standard Interface
Vector vector() const;
@ -567,6 +571,7 @@ class Rot2 {
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p);
Vector logmap(const gtsam::Rot2& p);
// Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const;
@ -727,6 +732,7 @@ class Rot3 {
// Standard Interface
static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p);
Vector logmap(const gtsam::Rot3& p);
Matrix matrix() const;
Matrix transpose() const;
gtsam::Point3 column(size_t index) const;
@ -772,6 +778,7 @@ class Pose2 {
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p);
static Matrix ExpmapDerivative(Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const;
@ -825,6 +832,7 @@ class Pose3 {
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& pose);
Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix adjointMap_(Vector xi);
@ -3143,6 +3151,7 @@ class ConstantBias {
// Lie Group
static gtsam::imuBias::ConstantBias Expmap(Vector v);
static Vector Logmap(const gtsam::imuBias::ConstantBias& b);
Vector logmap(const gtsam::imuBias::ConstantBias& b);
// Standard Interface
Vector vector() const;