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update gtsam:: namespace in geometry.i

release/4.3a0
Varun Agrawal 2024-06-28 16:15:45 -04:00
parent 795fbee9c4
commit ead977df76
1 changed files with 164 additions and 164 deletions
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328
gtsam/geometry/geometry.i
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@ -9,7 +9,7 @@ class Point2 {
// Standard Constructors // Standard Constructors
Point2(); Point2();
Point2(double x, double y); Point2(double x, double y);
Point2(Vector v); Point2(gtsam::Vector v);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -21,7 +21,7 @@ class Point2 {
// Standard Interface // Standard Interface
double x() const; double x() const;
double y() const; double y() const;
Vector vector() const; gtsam::Vector vector() const;
double distance(const gtsam::Point2& p2) const; double distance(const gtsam::Point2& p2) const;
double norm() const; double norm() const;
@ -83,21 +83,21 @@ class StereoPoint2 {
// Operator Overloads // Operator Overloads
gtsam::StereoPoint2 operator-() const; gtsam::StereoPoint2 operator-() const;
// gtsam::StereoPoint2 operator+(Vector b) const; //TODO Mixed types not yet // gtsam::StereoPoint2 operator+(gtsam::Vector b) const; //TODO Mixed types not yet
// supported // supported
gtsam::StereoPoint2 operator+(const gtsam::StereoPoint2& p2) const; gtsam::StereoPoint2 operator+(const gtsam::StereoPoint2& p2) const;
gtsam::StereoPoint2 operator-(const gtsam::StereoPoint2& p2) const; gtsam::StereoPoint2 operator-(const gtsam::StereoPoint2& p2) const;
// Manifold // Manifold
gtsam::StereoPoint2 retract(Vector v) const; gtsam::StereoPoint2 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::StereoPoint2& p) const; gtsam::Vector localCoordinates(const gtsam::StereoPoint2& p) const;
// Lie Group // Lie Group
static gtsam::StereoPoint2 Expmap(Vector v); static gtsam::StereoPoint2 Expmap(gtsam::Vector v);
static Vector Logmap(const gtsam::StereoPoint2& p); static gtsam::Vector Logmap(const gtsam::StereoPoint2& p);
// Standard Interface // Standard Interface
Vector vector() const; gtsam::Vector vector() const;
double uL() const; double uL() const;
double uR() const; double uR() const;
double v() const; double v() const;
@ -111,7 +111,7 @@ class Point3 {
// Standard Constructors // Standard Constructors
Point3(); Point3();
Point3(double x, double y, double z); Point3(double x, double y, double z);
Point3(Vector v); Point3(gtsam::Vector v);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -121,7 +121,7 @@ class Point3 {
static gtsam::Point3 Identity(); static gtsam::Point3 Identity();
// Standard Interface // Standard Interface
Vector vector() const; gtsam::Vector vector() const;
double x() const; double x() const;
double y() const; double y() const;
double z() const; double z() const;
@ -166,15 +166,15 @@ class Rot2 {
gtsam::Rot2 operator*(const gtsam::Rot2& p2) const; gtsam::Rot2 operator*(const gtsam::Rot2& p2) const;
// Manifold // Manifold
gtsam::Rot2 retract(Vector v) const; gtsam::Rot2 retract(gtsam::Vector v) const;
gtsam::Rot2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const; gtsam::Rot2 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector localCoordinates(const gtsam::Rot2& p) const; gtsam::Vector localCoordinates(const gtsam::Rot2& p) const;
Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const; gtsam::Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Lie Group // Lie Group
static gtsam::Rot2 Expmap(Vector v); static gtsam::Rot2 Expmap(gtsam::Vector v);
static Vector Logmap(const gtsam::Rot2& p); static gtsam::Vector Logmap(const gtsam::Rot2& p);
Vector logmap(const gtsam::Rot2& p); gtsam::Vector logmap(const gtsam::Rot2& p);
// Group Action on Point2 // Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const; gtsam::Point2 rotate(const gtsam::Point2& point) const;
@ -188,7 +188,7 @@ class Rot2 {
double degrees() const; double degrees() const;
double c() const; double c() const;
double s() const; double s() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -198,10 +198,10 @@ class Rot2 {
class SO3 { class SO3 {
// Standard Constructors // Standard Constructors
SO3(); SO3();
SO3(Matrix R); SO3(gtsam::Matrix R);
static gtsam::SO3 FromMatrix(Matrix R); static gtsam::SO3 FromMatrix(gtsam::Matrix R);
static gtsam::SO3 AxisAngle(const Vector axis, double theta); static gtsam::SO3 AxisAngle(const gtsam::Vector axis, double theta);
static gtsam::SO3 ClosestTo(const Matrix M); static gtsam::SO3 ClosestTo(const gtsam::Matrix M);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -217,21 +217,21 @@ class SO3 {
gtsam::SO3 operator*(const gtsam::SO3& R) const; gtsam::SO3 operator*(const gtsam::SO3& R) const;
// Manifold // Manifold
gtsam::SO3 retract(Vector v) const; gtsam::SO3 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::SO3& R) const; gtsam::Vector localCoordinates(const gtsam::SO3& R) const;
static gtsam::SO3 Expmap(Vector v); static gtsam::SO3 Expmap(gtsam::Vector v);
// Other methods // Other methods
Vector vec() const; gtsam::Vector vec() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
}; };
#include <gtsam/geometry/SO4.h> #include <gtsam/geometry/SO4.h>
class SO4 { class SO4 {
// Standard Constructors // Standard Constructors
SO4(); SO4();
SO4(Matrix R); SO4(gtsam::Matrix R);
static gtsam::SO4 FromMatrix(Matrix R); static gtsam::SO4 FromMatrix(gtsam::Matrix R);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -247,21 +247,21 @@ class SO4 {
gtsam::SO4 operator*(const gtsam::SO4& Q) const; gtsam::SO4 operator*(const gtsam::SO4& Q) const;
// Manifold // Manifold
gtsam::SO4 retract(Vector v) const; gtsam::SO4 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::SO4& Q) const; gtsam::Vector localCoordinates(const gtsam::SO4& Q) const;
static gtsam::SO4 Expmap(Vector v); static gtsam::SO4 Expmap(gtsam::Vector v);
// Other methods // Other methods
Vector vec() const; gtsam::Vector vec() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
}; };
#include <gtsam/geometry/SOn.h> #include <gtsam/geometry/SOn.h>
class SOn { class SOn {
// Standard Constructors // Standard Constructors
SOn(size_t n); SOn(size_t n);
static gtsam::SOn FromMatrix(Matrix R); static gtsam::SOn FromMatrix(gtsam::Matrix R);
static gtsam::SOn Lift(size_t n, Matrix R); static gtsam::SOn Lift(size_t n, gtsam::Matrix R);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -277,13 +277,13 @@ class SOn {
gtsam::SOn operator*(const gtsam::SOn& Q) const; gtsam::SOn operator*(const gtsam::SOn& Q) const;
// Manifold // Manifold
gtsam::SOn retract(Vector v) const; gtsam::SOn retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::SOn& Q) const; gtsam::Vector localCoordinates(const gtsam::SOn& Q) const;
static gtsam::SOn Expmap(Vector v); static gtsam::SOn Expmap(gtsam::Vector v);
// Other methods // Other methods
Vector vec() const; gtsam::Vector vec() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -295,14 +295,14 @@ class Quaternion {
double x() const; double x() const;
double y() const; double y() const;
double z() const; double z() const;
Vector coeffs() const; gtsam::Vector coeffs() const;
}; };
#include <gtsam/geometry/Rot3.h> #include <gtsam/geometry/Rot3.h>
class Rot3 { class Rot3 {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
Rot3(); Rot3();
Rot3(Matrix R); Rot3(gtsam::Matrix R);
Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2, Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2,
const gtsam::Point3& col3); const gtsam::Point3& col3);
Rot3(double R11, double R12, double R13, double R21, double R22, double R23, Rot3(double R11, double R12, double R13, double R21, double R22, double R23,
@ -313,7 +313,7 @@ class Rot3 {
static gtsam::Rot3 Ry(double t); static gtsam::Rot3 Ry(double t);
static gtsam::Rot3 Rz(double t); static gtsam::Rot3 Rz(double t);
static gtsam::Rot3 RzRyRx(double x, double y, double z); static gtsam::Rot3 RzRyRx(double x, double y, double z);
static gtsam::Rot3 RzRyRx(Vector xyz); static gtsam::Rot3 RzRyRx(gtsam::Vector xyz);
static gtsam::Rot3 Yaw( static gtsam::Rot3 Yaw(
double t); // positive yaw is to right (as in aircraft heading) double t); // positive yaw is to right (as in aircraft heading)
static gtsam::Rot3 Pitch( static gtsam::Rot3 Pitch(
@ -323,9 +323,9 @@ class Rot3 {
static gtsam::Rot3 Ypr(double y, double p, double r); static gtsam::Rot3 Ypr(double y, double p, double r);
static gtsam::Rot3 Quaternion(double w, double x, double y, double z); static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
static gtsam::Rot3 AxisAngle(const gtsam::Point3& axis, double angle); static gtsam::Rot3 AxisAngle(const gtsam::Point3& axis, double angle);
static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(gtsam::Vector v);
static gtsam::Rot3 Rodrigues(double wx, double wy, double wz); static gtsam::Rot3 Rodrigues(double wx, double wy, double wz);
static gtsam::Rot3 ClosestTo(const Matrix M); static gtsam::Rot3 ClosestTo(const gtsam::Matrix M);
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -341,10 +341,10 @@ class Rot3 {
gtsam::Rot3 operator*(const gtsam::Rot3& p2) const; gtsam::Rot3 operator*(const gtsam::Rot3& p2) const;
// Manifold // Manifold
// gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both // gtsam::Rot3 retractCayley(gtsam::Vector v) const; // TODO, does not exist in both
// Matrix and Quaternion options // gtsam::Matrix and Quaternion options
gtsam::Rot3 retract(Vector v) const; gtsam::Rot3 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Rot3& p) const; gtsam::Vector localCoordinates(const gtsam::Rot3& p) const;
// Group Action on Point3 // Group Action on Point3
gtsam::Point3 rotate(const gtsam::Point3& p) const; gtsam::Point3 rotate(const gtsam::Point3& p) const;
@ -358,21 +358,21 @@ class Rot3 {
gtsam::Unit3 unrotate(const gtsam::Unit3& p) const; gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
// Standard Interface // Standard Interface
static gtsam::Rot3 Expmap(Vector v); static gtsam::Rot3 Expmap(gtsam::Vector v);
static Vector Logmap(const gtsam::Rot3& p); static gtsam::Vector Logmap(const gtsam::Rot3& p);
Vector logmap(const gtsam::Rot3& p); gtsam::Vector logmap(const gtsam::Rot3& p);
Matrix matrix() const; gtsam::Matrix matrix() const;
Matrix transpose() const; gtsam::Matrix transpose() const;
gtsam::Point3 column(size_t index) const; gtsam::Point3 column(size_t index) const;
Vector xyz() const; gtsam::Vector xyz() const;
Vector ypr() const; gtsam::Vector ypr() const;
Vector rpy() const; gtsam::Vector rpy() const;
double roll() const; double roll() const;
double pitch() const; double pitch() const;
double yaw() const; double yaw() const;
pair<gtsam::Unit3, double> axisAngle() const; pair<gtsam::Unit3, double> axisAngle() const;
gtsam::Quaternion toQuaternion() const; gtsam::Quaternion toQuaternion() const;
// Vector quaternion() const; // @deprecated, see https://github.com/borglab/gtsam/pull/1219 // gtsam::Vector quaternion() const; // @deprecated, see https://github.com/borglab/gtsam/pull/1219
gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const; gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const;
// enabling serialization functionality // enabling serialization functionality
@ -387,7 +387,7 @@ class Pose2 {
Pose2(double x, double y, double theta); Pose2(double x, double y, double theta);
Pose2(double theta, const gtsam::Point2& t); Pose2(double theta, const gtsam::Point2& t);
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
Pose2(Vector v); Pose2(gtsam::Vector v);
static std::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs); static std::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs);
static std::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); static std::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
@ -408,32 +408,32 @@ class Pose2 {
gtsam::Pose2 operator*(const gtsam::Pose2& p2) const; gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
// Manifold // Manifold
gtsam::Pose2 retract(Vector v) const; gtsam::Pose2 retract(gtsam::Vector v) const;
gtsam::Pose2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const; gtsam::Pose2 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector localCoordinates(const gtsam::Pose2& p) const; gtsam::Vector localCoordinates(const gtsam::Pose2& p) const;
Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const; gtsam::Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Lie Group // Lie Group
static gtsam::Pose2 Expmap(Vector v); static gtsam::Pose2 Expmap(gtsam::Vector v);
static Vector Logmap(const gtsam::Pose2& p); static gtsam::Vector Logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p); gtsam::Vector logmap(const gtsam::Pose2& p);
Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H); gtsam::Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
static Matrix ExpmapDerivative(Vector v); static gtsam::Matrix ExpmapDerivative(gtsam::Vector v);
static Matrix LogmapDerivative(const gtsam::Pose2& v); static gtsam::Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const; gtsam::Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; gtsam::Vector Adjoint(gtsam::Vector xi) const;
static Matrix adjointMap_(Vector v); static gtsam::Matrix adjointMap_(gtsam::Vector v);
static Vector adjoint_(Vector xi, Vector y); static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y);
static Vector adjointTranspose(Vector xi, Vector y); static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
static Matrix wedge(double vx, double vy, double w); static gtsam::Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2 // Group Actions on Point2
gtsam::Point2 transformFrom(const gtsam::Point2& p) const; gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
gtsam::Point2 transformTo(const gtsam::Point2& p) const; gtsam::Point2 transformTo(const gtsam::Point2& p) const;
// Matrix versions // gtsam::Matrix versions
Matrix transformFrom(const Matrix& points) const; gtsam::Matrix transformFrom(const gtsam::Matrix& points) const;
Matrix transformTo(const Matrix& points) const; gtsam::Matrix transformTo(const gtsam::Matrix& points) const;
// Standard Interface // Standard Interface
double x() const; double x() const;
@ -445,7 +445,7 @@ class Pose2 {
gtsam::Point2 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const; gtsam::Point2 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
gtsam::Rot2 rotation() const; gtsam::Rot2 rotation() const;
gtsam::Rot2 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const; gtsam::Rot2 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
Matrix matrix() const; gtsam::Matrix matrix() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -458,7 +458,7 @@ class Pose3 {
Pose3(const gtsam::Pose3& other); Pose3(const gtsam::Pose3& other);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); Pose3(const gtsam::Pose2& pose2);
Pose3(Matrix mat); Pose3(gtsam::Matrix mat);
static std::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs); static std::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
static std::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); static std::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
@ -488,33 +488,33 @@ class Pose3 {
gtsam::Pose3 operator*(const gtsam::Pose3& pose) const; gtsam::Pose3 operator*(const gtsam::Pose3& pose) const;
// Manifold // Manifold
gtsam::Pose3 retract(Vector v) const; gtsam::Pose3 retract(gtsam::Vector v) const;
gtsam::Pose3 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const; gtsam::Pose3 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
Vector localCoordinates(const gtsam::Pose3& pose) const; gtsam::Vector localCoordinates(const gtsam::Pose3& pose) const;
Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const; gtsam::Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
// Lie Group // Lie Group
static gtsam::Pose3 Expmap(Vector v); static gtsam::Pose3 Expmap(gtsam::Vector v);
static gtsam::Pose3 Expmap(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi); static gtsam::Pose3 Expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi);
static Vector Logmap(const gtsam::Pose3& pose); static gtsam::Vector Logmap(const gtsam::Pose3& pose);
static Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose); static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
gtsam::Pose3 expmap(Vector v); gtsam::Pose3 expmap(gtsam::Vector v);
Vector logmap(const gtsam::Pose3& pose); gtsam::Vector logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const; gtsam::Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; gtsam::Vector Adjoint(gtsam::Vector xi) const;
Vector Adjoint(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this, gtsam::Vector Adjoint(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_xib) const; Eigen::Ref<Eigen::MatrixXd> H_xib) const;
Vector AdjointTranspose(Vector xi) const; gtsam::Vector AdjointTranspose(gtsam::Vector xi) const;
Vector AdjointTranspose(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this, gtsam::Vector AdjointTranspose(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_x) const; Eigen::Ref<Eigen::MatrixXd> H_x) const;
static Matrix adjointMap(Vector xi); static gtsam::Matrix adjointMap(gtsam::Vector xi);
static Vector adjoint(Vector xi, Vector y); static gtsam::Vector adjoint(gtsam::Vector xi, gtsam::Vector y);
static Matrix adjointMap_(Vector xi); static gtsam::Matrix adjointMap_(gtsam::Vector xi);
static Vector adjoint_(Vector xi, Vector y); static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y);
static Vector adjointTranspose(Vector xi, Vector y); static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
static Matrix ExpmapDerivative(Vector xi); static gtsam::Matrix ExpmapDerivative(gtsam::Vector xi);
static Matrix LogmapDerivative(const gtsam::Pose3& xi); static gtsam::Matrix LogmapDerivative(const gtsam::Pose3& xi);
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, static gtsam::Matrix wedge(double wx, double wy, double wz, double vx, double vy,
double vz); double vz);
// Group Action on Point3 // Group Action on Point3
@ -525,9 +525,9 @@ class Pose3 {
gtsam::Point3 transformTo(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself, gtsam::Point3 transformTo(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> Hpoint) const; Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
// Matrix versions // gtsam::Matrix versions
Matrix transformFrom(const Matrix& points) const; gtsam::Matrix transformFrom(const gtsam::Matrix& points) const;
Matrix transformTo(const Matrix& points) const; gtsam::Matrix transformTo(const gtsam::Matrix& points) const;
// Standard Interface // Standard Interface
gtsam::Rot3 rotation() const; gtsam::Rot3 rotation() const;
@ -537,7 +537,7 @@ class Pose3 {
double x() const; double x() const;
double y() const; double y() const;
double z() const; double z() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const; gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself, gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> HaTb) const; Eigen::Ref<Eigen::MatrixXd> HaTb) const;
@ -584,9 +584,9 @@ class Unit3 {
bool equals(const gtsam::Unit3& pose, double tol) const; bool equals(const gtsam::Unit3& pose, double tol) const;
// Other functionality // Other functionality
Matrix basis() const; gtsam::Matrix basis() const;
Matrix basis(Eigen::Ref<Eigen::MatrixXd> H) const; gtsam::Matrix basis(Eigen::Ref<Eigen::MatrixXd> H) const;
Matrix skew() const; gtsam::Matrix skew() const;
gtsam::Point3 point3() const; gtsam::Point3 point3() const;
gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const; gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const;
@ -602,8 +602,8 @@ class Unit3 {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Unit3 retract(Vector v) const; gtsam::Unit3 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Unit3& s) const; gtsam::Vector localCoordinates(const gtsam::Unit3& s) const;
gtsam::Unit3 FromPoint3(const gtsam::Point3& point) const; gtsam::Unit3 FromPoint3(const gtsam::Point3& point) const;
gtsam::Unit3 FromPoint3(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> H) const; gtsam::Unit3 FromPoint3(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> H) const;
@ -632,14 +632,14 @@ class EssentialMatrix {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::EssentialMatrix retract(Vector v) const; gtsam::EssentialMatrix retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::EssentialMatrix& s) const; gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
// Other methods: // Other methods:
gtsam::Rot3 rotation() const; gtsam::Rot3 rotation() const;
gtsam::Unit3 direction() const; gtsam::Unit3 direction() const;
Matrix matrix() const; gtsam::Matrix matrix() const;
double error(Vector vA, Vector vB); double error(gtsam::Vector vA, gtsam::Vector vB);
}; };
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
@ -647,7 +647,7 @@ class Cal3_S2 {
// Standard Constructors // Standard Constructors
Cal3_S2(); Cal3_S2();
Cal3_S2(double fx, double fy, double s, double u0, double v0); Cal3_S2(double fx, double fy, double s, double u0, double v0);
Cal3_S2(Vector v); Cal3_S2(gtsam::Vector v);
Cal3_S2(double fov, int w, int h); Cal3_S2(double fov, int w, int h);
// Testable // Testable
@ -657,8 +657,8 @@ class Cal3_S2 {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Cal3_S2 retract(Vector v) const; gtsam::Cal3_S2 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3_S2& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3_S2& c) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
@ -677,9 +677,9 @@ class Cal3_S2 {
double px() const; double px() const;
double py() const; double py() const;
gtsam::Point2 principalPoint() const; gtsam::Point2 principalPoint() const;
Vector vector() const; gtsam::Vector vector() const;
Matrix K() const; gtsam::Matrix K() const;
Matrix inverse() const; gtsam::Matrix inverse() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -701,9 +701,9 @@ virtual class Cal3DS2_Base {
double py() const; double py() const;
double k1() const; double k1() const;
double k2() const; double k2() const;
Matrix K() const; gtsam::Matrix K() const;
Vector k() const; gtsam::Vector k() const;
Vector vector() const; gtsam::Vector vector() const;
// Action on Point2 // Action on Point2
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
@ -727,7 +727,7 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
double k2); double k2);
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double p1, double p2); double k2, double p1, double p2);
Cal3DS2(Vector v); Cal3DS2(gtsam::Vector v);
// Testable // Testable
bool equals(const gtsam::Cal3DS2& rhs, double tol) const; bool equals(const gtsam::Cal3DS2& rhs, double tol) const;
@ -735,8 +735,8 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
// Manifold // Manifold
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
gtsam::Cal3DS2 retract(Vector v) const; gtsam::Cal3DS2 retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3DS2& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3DS2& c) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -750,7 +750,7 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
double k2); double k2);
Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double p1, double p2, double xi); double k2, double p1, double p2, double xi);
Cal3Unified(Vector v); Cal3Unified(gtsam::Vector v);
// Testable // Testable
bool equals(const gtsam::Cal3Unified& rhs, double tol) const; bool equals(const gtsam::Cal3Unified& rhs, double tol) const;
@ -763,8 +763,8 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
// Manifold // Manifold
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
gtsam::Cal3Unified retract(Vector v) const; gtsam::Cal3Unified retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3Unified& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Unified& c) const;
// Action on Point2 // Action on Point2
// Note: the signature of this functions differ from the functions // Note: the signature of this functions differ from the functions
@ -788,7 +788,7 @@ class Cal3Fisheye {
Cal3Fisheye(); Cal3Fisheye();
Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1, Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double k3, double k4, double tol = 1e-5); double k2, double k3, double k4, double tol = 1e-5);
Cal3Fisheye(Vector v); Cal3Fisheye(gtsam::Vector v);
// Testable // Testable
void print(string s = "Cal3Fisheye") const; void print(string s = "Cal3Fisheye") const;
@ -797,8 +797,8 @@ class Cal3Fisheye {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Cal3Fisheye retract(Vector v) const; gtsam::Cal3Fisheye retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3Fisheye& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& c) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
@ -821,10 +821,10 @@ class Cal3Fisheye {
double px() const; double px() const;
double py() const; double py() const;
gtsam::Point2 principalPoint() const; gtsam::Point2 principalPoint() const;
Vector vector() const; gtsam::Vector vector() const;
Vector k() const; gtsam::Vector k() const;
Matrix K() const; gtsam::Matrix K() const;
Matrix inverse() const; gtsam::Matrix inverse() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -835,13 +835,13 @@ class Cal3_S2Stereo {
// Standard Constructors // Standard Constructors
Cal3_S2Stereo(); Cal3_S2Stereo();
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
Cal3_S2Stereo(Vector v); Cal3_S2Stereo(gtsam::Vector v);
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Cal3_S2Stereo retract(Vector v) const; gtsam::Cal3_S2Stereo retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const;
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
@ -853,11 +853,11 @@ class Cal3_S2Stereo {
double skew() const; double skew() const;
double px() const; double px() const;
double py() const; double py() const;
Matrix K() const; gtsam::Matrix K() const;
gtsam::Point2 principalPoint() const; gtsam::Point2 principalPoint() const;
double baseline() const; double baseline() const;
Vector6 vector() const; Vector6 vector() const;
Matrix inverse() const; gtsam::Matrix inverse() const;
}; };
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
@ -875,8 +875,8 @@ class Cal3Bundler {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Cal3Bundler retract(Vector v) const; gtsam::Cal3Bundler retract(gtsam::Vector v) const;
Vector localCoordinates(const gtsam::Cal3Bundler& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& c) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
@ -895,9 +895,9 @@ class Cal3Bundler {
double k2() const; double k2() const;
double px() const; double px() const;
double py() const; double py() const;
Vector vector() const; gtsam::Vector vector() const;
Vector k() const; gtsam::Vector k() const;
Matrix K() const; gtsam::Matrix K() const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -908,7 +908,7 @@ class CalibratedCamera {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
CalibratedCamera(); CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose); CalibratedCamera(const gtsam::Pose3& pose);
CalibratedCamera(Vector v); CalibratedCamera(gtsam::Vector v);
static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2,
double height); double height);
@ -919,8 +919,8 @@ class CalibratedCamera {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::CalibratedCamera retract(Vector d) const; gtsam::CalibratedCamera retract(gtsam::Vector d) const;
Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; gtsam::Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
// Action on Point3 // Action on Point3
gtsam::Point2 project(const gtsam::Point3& point) const; gtsam::Point2 project(const gtsam::Point3& point) const;
@ -972,8 +972,8 @@ class PinholeCamera {
CALIBRATION calibration() const; CALIBRATION calibration() const;
// Manifold // Manifold
This retract(Vector d) const; This retract(gtsam::Vector d) const;
Vector localCoordinates(const This& T2) const; gtsam::Vector localCoordinates(const This& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -1039,8 +1039,8 @@ class PinholePose {
CALIBRATION calibration() const; CALIBRATION calibration() const;
// Manifold // Manifold
This retract(Vector d) const; This retract(gtsam::Vector d) const;
Vector localCoordinates(const This& T2) const; gtsam::Vector localCoordinates(const This& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -1081,8 +1081,8 @@ class Similarity2 {
Similarity2(); Similarity2();
Similarity2(double s); Similarity2(double s);
Similarity2(const gtsam::Rot2& R, const gtsam::Point2& t, double s); Similarity2(const gtsam::Rot2& R, const gtsam::Point2& t, double s);
Similarity2(const Matrix& R, const Vector& t, double s); Similarity2(const gtsam::Matrix& R, const gtsam::Vector& t, double s);
Similarity2(const Matrix& T); Similarity2(const gtsam::Matrix& T);
gtsam::Point2 transformFrom(const gtsam::Point2& p) const; gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
gtsam::Pose2 transformFrom(const gtsam::Pose2& T); gtsam::Pose2 transformFrom(const gtsam::Pose2& T);
@ -1093,7 +1093,7 @@ class Similarity2 {
// Standard Interface // Standard Interface
bool equals(const gtsam::Similarity2& sim, double tol) const; bool equals(const gtsam::Similarity2& sim, double tol) const;
void print(const std::string& s = "") const; void print(const std::string& s = "") const;
Matrix matrix() const; gtsam::Matrix matrix() const;
gtsam::Rot2& rotation(); gtsam::Rot2& rotation();
gtsam::Point2& translation(); gtsam::Point2& translation();
double scale() const; double scale() const;
@ -1105,8 +1105,8 @@ class Similarity3 {
Similarity3(); Similarity3();
Similarity3(double s); Similarity3(double s);
Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s); Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s);
Similarity3(const Matrix& R, const Vector& t, double s); Similarity3(const gtsam::Matrix& R, const gtsam::Vector& t, double s);
Similarity3(const Matrix& T); Similarity3(const gtsam::Matrix& T);
gtsam::Point3 transformFrom(const gtsam::Point3& p) const; gtsam::Point3 transformFrom(const gtsam::Point3& p) const;
gtsam::Pose3 transformFrom(const gtsam::Pose3& T); gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
@ -1117,7 +1117,7 @@ class Similarity3 {
// Standard Interface // Standard Interface
bool equals(const gtsam::Similarity3& sim, double tol) const; bool equals(const gtsam::Similarity3& sim, double tol) const;
void print(const std::string& s = "") const; void print(const std::string& s = "") const;
Matrix matrix() const; gtsam::Matrix matrix() const;
gtsam::Rot3& rotation(); gtsam::Rot3& rotation();
gtsam::Point3& translation(); gtsam::Point3& translation();
double scale() const; double scale() const;
@ -1148,8 +1148,8 @@ class StereoCamera {
gtsam::Cal3_S2Stereo calibration() const; gtsam::Cal3_S2Stereo calibration() const;
// Manifold // Manifold
gtsam::StereoCamera retract(Vector d) const; gtsam::StereoCamera retract(gtsam::Vector d) const;
Vector localCoordinates(const gtsam::StereoCamera& T2) const; gtsam::Vector localCoordinates(const gtsam::StereoCamera& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();