Formatting only

release/4.3a0
Frank Dellaert 2009-08-29 01:22:37 +00:00
parent 8d54086f92
commit ea0e16caf5
1 changed files with 101 additions and 91 deletions

View File

@ -12,111 +12,121 @@
namespace gtsam {
/** A 3D pose (R,t) : (Rot3,Point3) */
class Pose3 {
private:
Rot3 R_;
Point3 t_;
/** A 3D pose (R,t) : (Rot3,Point3) */
class Pose3 {
private:
Rot3 R_;
Point3 t_;
public:
Pose3() {} // default is origin
Pose3(const Pose3& pose):R_(pose.R_),t_(pose.t_) {}
Pose3(const Rot3& R, const Point3& t): R_(R), t_(t) {}
public:
Pose3() {
} // default is origin
Pose3(const Pose3& pose) :
R_(pose.R_), t_(pose.t_) {
}
Pose3(const Rot3& R, const Point3& t) :
R_(R), t_(t) {
}
/** constructor from 4*4 matrix */
Pose3(const Matrix &T) :R_( T(0,0), T(0,1), T(0,2),
T(1,0), T(1,1), T(1,2),
T(2,0), T(2,1), T(2,2) ),
t_( T(0,3), T(1,3), T(2,3) ) {}
/** constructor from 4*4 matrix */
Pose3(const Matrix &T) :
R_(T(0, 0), T(0, 1), T(0, 2), T(1, 0), T(1, 1), T(1, 2), T(2, 0),
T(2, 1), T(2, 2)), t_(T(0, 3), T(1, 3), T(2, 3)) {
}
/** constructor from 12D vector */
Pose3(const Vector &V) :R_( V(0), V(3), V(6),
V(1), V(4), V(7),
V(2), V(5), V(8) ),
t_( V(9), V(10), V(11) ) {}
/** constructor from 12D vector */
Pose3(const Vector &V) :
R_(V(0), V(3), V(6), V(1), V(4), V(7), V(2), V(5), V(8)), t_(V(9), V(10),
V(11)) {
}
const Rot3& rotation() const {return R_;}
const Rot3& rotation() const {
return R_;
}
const Point3& translation() const {return t_;}
const Point3& translation() const {
return t_;
}
/** return DOF, dimensionality of tangent space = 6 */
size_t dim() const { return 6;}
/** return DOF, dimensionality of tangent space = 6 */
size_t dim() const {
return 6;
}
/** Given 6-dim tangent vector, create new pose */
Pose3 exmap(const Vector& d) const;
/** Given 6-dim tangent vector, create new pose */
Pose3 exmap(const Vector& d) const;
/** inverse transformation */
Pose3 inverse() const;
/** inverse transformation */
Pose3 inverse() const;
/** composition */
inline Pose3 operator*(const Pose3& B) const {
return Pose3(matrix()*B.matrix());
}
/** composition */
inline Pose3 operator*(const Pose3& B) const {
return Pose3(matrix() * B.matrix());
}
/** return 12D vectorized form (column-wise) */
Vector vector() const {
Vector r = R_.vector(), t = t_.vector();
return concatVectors(2,&r,&t);
}
/** return 12D vectorized form (column-wise) */
Vector vector() const {
Vector r = R_.vector(), t = t_.vector();
return concatVectors(2, &r, &t);
}
/** convert to 4*4 matrix */
Matrix matrix() const {
const double row4[] = {0,0,0,1};
Matrix A34 = Matrix_(3,4,vector()), A14 = Matrix_(1,4,row4);
return stack(2, &A34, &A14);
}
/** convert to 4*4 matrix */
Matrix matrix() const {
const double row4[] = { 0, 0, 0, 1 };
Matrix A34 = Matrix_(3, 4, vector()), A14 = Matrix_(1, 4, row4);
return stack(2, &A34, &A14);
}
/** print with optional string */
void print(const std::string& s = "") const {
R_.print(s+".R");
t_.print(s+".t");
}
/** print with optional string */
void print(const std::string& s = "") const {
R_.print(s + ".R");
t_.print(s + ".t");
}
/** transforms */
Pose3 transformPose_to(const Pose3& transform) const;
/** transforms */
Pose3 transformPose_to(const Pose3& transform) const;
/** assert equality up to a tolerance */
bool equals(const Pose3& pose, double tol = 1e-9) const;
/** friends */
friend Point3 transform_from(const Pose3& pose, const Point3& p);
friend Point3 transform_to(const Pose3& pose, const Point3& p);
friend Pose3 composeTransform(const Pose3& current, const Pose3& target);
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_);
}
}; // Pose3 class
/** finds a transform from the current frame to the target frame given two coordinates of the same point */
Pose3 composeTransform(const Pose3& current, const Pose3& target);
/** receives the point in Pose coordinates and transforms it to world coordinates */
Point3 transform_from(const Pose3& pose, const Point3& p);
Matrix Dtransform_from1(const Pose3& pose, const Point3& p);
Matrix Dtransform_from2(const Pose3& pose); // does not depend on p !
/** receives the point in world coordinates and transforms it to Pose coordinates */
Point3 transform_to(const Pose3& pose, const Point3& p);
Matrix Dtransform_to1(const Pose3& pose, const Point3& p);
Matrix Dtransform_to2(const Pose3& pose); // does not depend on p !
/** direct measurement of a pose */
Vector hPose(const Vector& x);
/**
* derivative of direct measurement
* 12*6, entry i,j is how measurement error will change
*/
Matrix DhPose(const Vector& x);
/** assert equality up to a tolerance */
bool equals(const Pose3& pose, double tol=1e-9) const;
/** friends */
friend Point3 transform_from(const Pose3& pose, const Point3& p);
friend Point3 transform_to (const Pose3& pose, const Point3& p);
friend Pose3 composeTransform(const Pose3& current, const Pose3& target);
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version)
{
ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_);
}
}; // Pose3 class
/** finds a transform from the current frame to the target frame given two coordinates of the same point */
Pose3 composeTransform(const Pose3& current, const Pose3& target);
/** receives the point in Pose coordinates and transforms it to world coordinates */
Point3 transform_from (const Pose3& pose, const Point3& p);
Matrix Dtransform_from1(const Pose3& pose, const Point3& p);
Matrix Dtransform_from2(const Pose3& pose); // does not depend on p !
/** receives the point in world coordinates and transforms it to Pose coordinates */
Point3 transform_to (const Pose3& pose, const Point3& p);
Matrix Dtransform_to1(const Pose3& pose, const Point3& p);
Matrix Dtransform_to2(const Pose3& pose); // does not depend on p !
/** direct measurement of a pose */
Vector hPose (const Vector& x);
/**
* derivative of direct measurement
* 12*6, entry i,j is how measurement error will change
*/
Matrix DhPose(const Vector& x);
/** assert equality up to a tolerance */
bool assert_equal(const Pose3& A, const Pose3& B, double tol=1e-9);
bool assert_equal(const Pose3& A, const Pose3& B, double tol = 1e-9);
} // namespace gtsam