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undo return type of Eigen::Transpose, and add back TODO to optimize RPY

release/4.3a0
Varun Agrawal 2020-03-18 19:25:31 -04:00
parent 7b6a80eba2
commit dec918c3d5
3 changed files with 14 additions and 4 deletions
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11
gtsam/geometry/Rot3.h
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@ -411,7 +411,7 @@ namespace gtsam {
/**
* Return 3*3 transpose (inverse) rotation matrix
*/
const Eigen::Transpose<const Matrix3> transpose() const;
Matrix3 transpose() const;
/// @deprecated, this is base 1, and was just confusing
Point3 column(int index) const;
@ -440,16 +440,25 @@ namespace gtsam {
/**
* Accessor to get to component of angle representations
* NOTE: these are not efficient to get to multiple separate parts,
* you should instead use xyz() or ypr()
* TODO: make this more efficient
*/
inline double roll() const { return xyz()(0); }
/**
* Accessor to get to component of angle representations
* NOTE: these are not efficient to get to multiple separate parts,
* you should instead use xyz() or ypr()
* TODO: make this more efficient
*/
inline double pitch() const { return xyz()(1); }
/**
* Accessor to get to component of angle representations
* NOTE: these are not efficient to get to multiple separate parts,
* you should instead use xyz() or ypr()
* TODO: make this more efficient
*/
inline double yaw() const { return xyz()(2); }

2
gtsam/geometry/Rot3M.cpp
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@ -110,7 +110,7 @@ Rot3 Rot3::operator*(const Rot3& R2) const {
}
/* ************************************************************************* */
const Eigen::Transpose<const Matrix3> Rot3::transpose() const {
Matrix3 Rot3::transpose() const {
return rot_.matrix().transpose();
}

5
gtsam/geometry/Rot3Q.cpp
View File

@ -79,9 +79,10 @@ namespace gtsam {
}
/* ************************************************************************* */
const Eigen::Transpose<const Matrix3> Rot3::transpose() const {
Matrix3 Rot3::transpose() const {
// `eval` for immediate evaluation (allows compilation).
return Rot3(matrix()).matrix().eval().transpose();
// return Rot3(matrix()).matrix().eval().transpose();
return matrix().eval().transpose();
}
/* ************************************************************************* */