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Merge pull request #1524 from borglab/wrap-unit3-jacobians

release/4.3a0
Varun Agrawal 2023-05-03 14:38:19 -04:00 committed by GitHub
parent 7a3b95551f 90eac3565c
commit 9eb9770a43
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1 changed files with 20 additions and 0 deletions
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20
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
@ -563,14 +570,27 @@ class Unit3 {
// Other functionality // Other functionality
Matrix basis() const; Matrix basis() const;
Matrix basis(Eigen::Ref<Eigen::MatrixXd> H) const;
Matrix skew() const; Matrix skew() const;
gtsam::Point3 point3() const; gtsam::Point3 point3() const;
gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const;
Vector3 unitVector() const;
Vector3 unitVector(Eigen::Ref<Eigen::MatrixXd> H) const;
double dot(const gtsam::Unit3& q) const;
double dot(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector2 errorVector(const gtsam::Unit3& q) const;
Vector2 errorVector(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H_p,
Eigen::Ref<Eigen::MatrixXd> H_q) const;
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
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;