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Deprecated transform_to(Pose3)

release/4.3a0
Frank Dellaert 2019-05-16 15:03:03 -04:00
parent 23f3f95ed2
commit ae1a096239
3 changed files with 10 additions and 57 deletions
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2
gtsam/geometry/Pose3.cpp
View File

@ -285,11 +285,13 @@ Matrix4 Pose3::matrix() const {
}
/* ************************************************************************* */
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
Pose3 Pose3::transform_to(const Pose3& pose) const {
Rot3 cRv = R_ * Rot3(pose.R_.inverse());
Point3 t = pose.transform_to(t_);
return Pose3(cRv, t);
}
#endif
/* ************************************************************************* */
Pose3 Pose3::transform_pose_to(const Pose3& pose, OptionalJacobian<6, 6> H1,

13
gtsam/geometry/Pose3.h
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@ -253,11 +253,6 @@ public:
/** convert to 4*4 matrix */
Matrix4 matrix() const;
/** receives a pose in local coordinates and transforms it to world coordinates
* @deprecated: This is actually equivalent to transform_from, so it is WRONG! Use
* transform_pose_to instead. */
Pose3 transform_to(const Pose3& pose) const;
/** receives a pose in world coordinates and transforms it to local coordinates */
Pose3 transform_pose_to(const Pose3& pose, OptionalJacobian<6, 6> H1 = boost::none,
OptionalJacobian<6, 6> H2 = boost::none) const;
@ -321,6 +316,14 @@ public:
GTSAM_EXPORT
friend std::ostream &operator<<(std::ostream &os, const Pose3& p);
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @name Deprecated
/// @{
/// This function is neither here not there. Do not use.
Pose3 transform_to(const Pose3& pose) const;
/// @}
#endif
private:
/** Serialization function */
friend class boost::serialization::access;

52
gtsam/geometry/tests/testPose3.cpp
View File

@ -484,58 +484,6 @@ TEST( Pose3, transform_roundtrip)
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST( Pose3, transformPose_to_origin)
{
// transform to origin
Pose3 actual = T3.transform_to(Pose3());
EXPECT(assert_equal(T3, actual, 1e-8));
}
/* ************************************************************************* */
TEST( Pose3, transformPose_to_itself)
{
// transform to itself
Pose3 actual = T3.transform_to(T3);
EXPECT(assert_equal(Pose3(), actual, 1e-8));
}
/* ************************************************************************* */
TEST( Pose3, transformPose_to_translation)
{
// transform translation only
Rot3 r = Rot3::Rodrigues(-1.570796,0,0);
Pose3 pose2(r, Point3(21.,32.,13.));
Pose3 actual = pose2.transform_to(Pose3(Rot3(), Point3(1,2,3)));
Pose3 expected(r, Point3(20.,30.,10.));
EXPECT(assert_equal(expected, actual, 1e-8));
}
/* ************************************************************************* */
TEST( Pose3, transformPose_to_simple_rotate)
{
// transform translation only
Rot3 r = Rot3::Rodrigues(0,0,-1.570796);
Pose3 pose2(r, Point3(21.,32.,13.));
Pose3 transform(r, Point3(1,2,3));
Pose3 actual = pose2.transform_to(transform);
Pose3 expected(Rot3(), Point3(-30.,20.,10.));
EXPECT(assert_equal(expected, actual, 0.001));
}
/* ************************************************************************* */
TEST( Pose3, transformPose_to)
{
// transform to
Rot3 r = Rot3::Rodrigues(0,0,-1.570796); //-90 degree yaw
Rot3 r2 = Rot3::Rodrigues(0,0,0.698131701); //40 degree yaw
Pose3 pose2(r2, Point3(21.,32.,13.));
Pose3 transform(r, Point3(1,2,3));
Pose3 actual = pose2.transform_to(transform);
Pose3 expected(Rot3::Rodrigues(0,0,2.26892803), Point3(-30.,20.,10.));
EXPECT(assert_equal(expected, actual, 0.001));
}
/* ************************************************************************* */
TEST(Pose3, Retract_LocalCoordinates)
{