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operator overloading for compose

release/4.3a0
Varun Agrawal 2021-04-02 01:23:00 -04:00
parent 1144347a04
commit a63512dfba
1 changed files with 28 additions and 1 deletions
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29
gtsam/gtsam.i
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@ -308,6 +308,9 @@ class StereoPoint2 {
gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const;
gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
// Operator Overloads
gtsam::StereoPoint2 operator*(const gtsam::StereoPoint2& p2) const;
// Manifold
gtsam::StereoPoint2 retract(Vector v) const;
Vector localCoordinates(const gtsam::StereoPoint2& p) const;
@ -384,6 +387,9 @@ class Rot2 {
gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
gtsam::Rot2 between(const gtsam::Rot2& p2) const;
// Operator Overloads
gtsam::Rot2 operator*(const gtsam::Rot2& p2) const;
// Manifold
gtsam::Rot2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot2& p) const;
@ -432,6 +438,9 @@ class SO3 {
gtsam::SO3 between(const gtsam::SO3& R) const;
gtsam::SO3 compose(const gtsam::SO3& R) const;
// Operator Overloads
gtsam::SO3 operator*(const gtsam::SO3& R) const;
// Manifold
gtsam::SO3 retract(Vector v) const;
Vector localCoordinates(const gtsam::SO3& R) const;
@ -459,6 +468,9 @@ class SO4 {
gtsam::SO4 between(const gtsam::SO4& Q) const;
gtsam::SO4 compose(const gtsam::SO4& Q) const;
// Operator Overloads
gtsam::SO4 operator*(const gtsam::SO4& Q) const;
// Manifold
gtsam::SO4 retract(Vector v) const;
Vector localCoordinates(const gtsam::SO4& Q) const;
@ -486,6 +498,9 @@ class SOn {
gtsam::SOn between(const gtsam::SOn& Q) const;
gtsam::SOn compose(const gtsam::SOn& Q) const;
// Operator Overloads
gtsam::SOn operator*(const gtsam::SOn& Q) const;
// Manifold
gtsam::SOn retract(Vector v) const;
Vector localCoordinates(const gtsam::SOn& Q) const;
@ -540,10 +555,13 @@ class Rot3 {
// Group
static gtsam::Rot3 identity();
gtsam::Rot3 inverse() const;
gtsam::Rot3 inverse() const;
gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
gtsam::Rot3 between(const gtsam::Rot3& p2) const;
// Operator Overloads
gtsam::Rot3 operator*(const gtsam::Rot3& p2) const;
// Manifold
//gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both Matrix and Quaternion options
gtsam::Rot3 retract(Vector v) const;
@ -598,6 +616,9 @@ class Pose2 {
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
// Operator Overloads
gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
// Manifold
gtsam::Pose2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose2& p) const;
@ -655,6 +676,9 @@ class Pose3 {
gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
gtsam::Pose3 between(const gtsam::Pose3& pose) const;
// Operator Overloads
gtsam::Pose3 operator*(const gtsam::Pose3& pose) const;
// Manifold
gtsam::Pose3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose3& pose) const;
@ -3132,6 +3156,9 @@ class ConstantBias {
gtsam::imuBias::ConstantBias compose(const gtsam::imuBias::ConstantBias& b) const;
gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const;
// Operator Overloads
gtsam::imuBias::ConstantBias operator*(const gtsam::imuBias::ConstantBias& b) const;
// Manifold
gtsam::imuBias::ConstantBias retract(Vector v) const;
Vector localCoordinates(const gtsam::imuBias::ConstantBias& b) const;