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Removed transform functions from Point2

release/4.3a0
Alex Cunningham 2010-09-27 18:27:11 +00:00
parent 2ac1685b93
commit 9ffd075225
3 changed files with 0 additions and 70 deletions
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16
geometry/Point2.cpp
View File

@ -29,20 +29,4 @@ namespace gtsam {
return sqrt(x_*x_ + y_*y_);
}
/* ************************************************************************* */
Point2 Point2::transform_to(const Point2& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
if (H1) *H1 = -eye(2);
if (H2) *H2 = eye(2);
return point - *this;
}
/* ************************************************************************* */
Point2 Point2::transform_from(const Point2& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
if (H1) *H1 = eye(2);
if (H2) *H2 = eye(2);
return point + *this;
}
} // namespace gtsam

11
geometry/Point2.h
View File

@ -41,17 +41,6 @@ namespace gtsam {
/** equals with an tolerance, prints out message if unequal*/
bool equals(const Point2& q, double tol = 1e-9) const;
/** simple transform_[to|from] to allow for generic algorithms */
/** Return point coordinates in pose coordinate frame */
Point2 transform_to(const Point2& point,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const;
/** Return point coordinates in global frame */
Point2 transform_from(const Point2& point,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const;
/** Lie requirements */
/** Size of the tangent space of the Lie type */

43
geometry/tests/testPoint2.cpp
View File

@ -5,14 +5,11 @@
**/
#include <gtsam/CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Point2.h>
using namespace std;
using namespace gtsam;
const double tol = 1e-5;
/* ************************************************************************* */
TEST( Point2, expmap)
{
@ -44,46 +41,6 @@ TEST( Point2, norm)
DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
}
/* ************************************************************************* */
Point2 transform_from_proxy(const Point2& pose, const Point2& point) {
return pose.transform_from(point);
}
/* ************************************************************************* */
Point2 transform_to_proxy(const Point2& pose, const Point2& point) {
return pose.transform_to(point);
}
Point2 offset(3.0, 4.0), pt(-5.0, 6.0);
/* ************************************************************************* */
TEST( Point2, transforms ) {
EXPECT(assert_equal(Point2(5.0, 6.0), offset.transform_from(Point2(2.0, 2.0))));
EXPECT(assert_equal(Point2(-1.0, -2.0), offset.transform_to(Point2(2.0, 2.0))));
EXPECT(assert_equal(Point2(1.0, 2.0), offset.transform_to(
offset.transform_from(Point2(1.0, 2.0)))));
}
/* ************************************************************************* */
TEST( Point2, transform_to_derivatives ) {
Matrix actH1, actH2;
offset.transform_to(pt, actH1, actH2);
Matrix numericalH1 = numericalDerivative21(transform_to_proxy, offset, pt, 1e-5);
Matrix numericalH2 = numericalDerivative22(transform_to_proxy, offset, pt, 1e-5);
EXPECT(assert_equal(numericalH1, actH1, tol));
EXPECT(assert_equal(numericalH2, actH2, tol));
}
/* ************************************************************************* */
TEST( Point2, transform_from_derivatives ) {
Matrix actH1, actH2;
offset.transform_from(pt, actH1, actH2);
Matrix numericalH1 = numericalDerivative21(transform_from_proxy, offset, pt, 1e-5);
Matrix numericalH2 = numericalDerivative22(transform_from_proxy, offset, pt, 1e-5);
EXPECT(assert_equal(numericalH1, actH1, tol));
EXPECT(assert_equal(numericalH2, actH2, tol));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */