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wrap Unit3 methods with Jacobians

release/4.3a0
Varun Agrawal 2023-05-02 15:47:30 -04:00
parent 7a3b95551f
commit a8e55e549a
1 changed files with 11 additions and 0 deletions
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11
gtsam/geometry/geometry.i
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@ -563,8 +563,19 @@ 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();