12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

5-fold performance improvement in combined between function

release/4.3a0
Frank Dellaert 2010-02-24 06:14:02 +00:00
parent 51281ea78f
commit dd9446993a
1 changed files with 23 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
cpp/Pose2.cpp
View File

@ -13,6 +13,8 @@ namespace gtsam {
/** Explicit instantiation of base class to export members */ /** Explicit instantiation of base class to export members */
INSTANTIATE_LIE(Pose2); INSTANTIATE_LIE(Pose2);
static const Matrix I3 = eye(3);
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Pose2::matrix() const { Matrix Pose2::matrix() const {
Matrix R = r_.matrix(); Matrix R = r_.matrix();
@ -57,22 +59,32 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Pose2 between(const Pose2& p1, const Pose2& p2, boost::optional<Matrix&> H1, Pose2 between(const Pose2& p1, const Pose2& p2, boost::optional<Matrix&> H1,
boost::optional<Matrix&> H2) { boost::optional<Matrix&> H2) {
Rot2 dR = between(p1.r(), p2.r()); // get cosines and sines from rotation matrices
const Rot2& R1 = p1.r(), R2 = p2.r();
double c1=R1.c(), s1=R1.s(), c2=R2.c(), s2=R2.s();
// Calculate delta rotation = between(R1,R2)
double c = c1 * c2 + s1 * s2, s = -s1 * c2 + c1 * s2;
Rot2 R(c,s);
// Calculate delta translation = unrotate(R1, dt);
Point2 dt = p2.t() - p1.t(); Point2 dt = p2.t() - p1.t();
Point2 q = unrotate(p1.r(), dt); double x = dt.x(), y = dt.y();
Pose2 dp(dR, q); Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y);
// FD: I don't understand this code (a performance-driven transformation
// from Richard's heavier code) but it works.
if (H1) { if (H1) {
Matrix dT1 = -invcompose(p2.r(), p1.r()).matrix(); double dt1 = -s2 * x + c2 * y;
Matrix dR1; double dt2 = -c2 * x - s2 * y;
unrotate(p2.r(), dt, dR1); // FD to Richard: I do *not* understand this
*H1 = Matrix_(3,3, *H1 = Matrix_(3,3,
dT1(0,0), dT1(0,1), dR1(0,0), -c, -s, dt1,
dT1(1,0), dT1(1,1), dR1(1,0), s, -c, dt2,
0.0, 0.0, -1.0); 0.0, 0.0, -1.0);
} }
static const Matrix I3 = eye(3);
if (H2) *H2 = I3; if (H2) *H2 = I3;
return dp;
return Pose2(R,t);
} }
/* ************************************************************************* */ /* ************************************************************************* */