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Updated the documentation for Pose3

release/4.3a0
Nick Barrash 2011-11-17 19:12:05 +00:00
parent ba22799b67
commit f050fc614f
1 changed files with 50 additions and 37 deletions
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87
gtsam/geometry/Pose3.h
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@ -65,66 +65,79 @@ namespace gtsam {
/** convert to 4*4 matrix */
Matrix matrix() const;
/** print with optional string */
/// @name Testable
/// @{
/// print with optional string
void print(const std::string& s = "") const;
/** assert equality up to a tolerance */
/// assert equality up to a tolerance
bool equals(const Pose3& pose, double tol = 1e-9) const;
/** Compose two poses */
/// @}
/// @name Group
/// @{
/// identity for group operation
static Pose3 identity() { return Pose3(); }
/// inverse transformation with derivatives
Pose3 inverse(boost::optional<Matrix&> H1=boost::none) const;
///compose this transformation onto another (first *this and then p2)
Pose3 compose(const Pose3& p2,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const;
/// compose syntactic sugar
Pose3 operator*(const Pose3& T) const {
return Pose3(R_*T.R_, t_ + R_*T.t_);
}
Pose3 transform_to(const Pose3& pose) const;
/// @}
/// @name Manifold
/// @{
/** dimension of the variable - used to autodetect sizes */
static size_t Dim() { return dimension; }
/// Dimensionality of tangent space = 6 DOF - used to autodetect sizes
static size_t Dim() { return dimension; }
/** Lie requirements */
/** Dimensionality of the tangent space */
/// Dimensionality of the tangent space = 6 DOF
size_t dim() const { return dimension; }
/** identity */
static Pose3 identity() {
return Pose3();
}
/**
* Derivative of inverse
*/
Pose3 inverse(boost::optional<Matrix&> H1=boost::none) const;
/** Exponential map around another pose */ /// Retraction from R^6 to Pose3 manifold neighborhood around current pose
Pose3 retract(const Vector& d) const;
/**
* composes two poses (first (*this) then p2)
* with optional derivatives
*/
Pose3 compose(const Pose3& p2,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const;
/// Logarithm map around another pose T1 /// Local 6D coordinates of Pose3 manifold neighborhood around current pose
Vector localCoordinates(const Pose3& T2) const;
/// @}
/// @name Lie Group
/// @{
/// Exponential map from Lie algebra se(3) to SE(3)
static Pose3 Expmap(const Vector& xi);
/// Exponential map from SE(3) to Lie algebra se(3)
static Vector Logmap(const Pose3& p);
/// @}
/** syntactic sugar for transform_from */
inline Point3 operator*(const Point3& p) const { return transform_from(p); }
Pose3 transform_to(const Pose3& pose) const;
/** Lie requirements */
/** receives the point in Pose coordinates and transforms it to world coordinates */
Point3 transform_from(const Point3& p,
boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const;
/** syntactic sugar for transform */
inline Point3 operator*(const Point3& p) const { return transform_from(p); }
/** receives the point in world coordinates and transforms it to Pose coordinates */
Point3 transform_to(const Point3& p,
boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const;
/** Exponential map around another pose */
Pose3 retract(const Vector& d) const;
/** Logarithm map around another pose T1 */
Vector localCoordinates(const Pose3& T2) const;
/** non-approximated versions of Expmap/Logmap */
static Pose3 Expmap(const Vector& xi);
static Vector Logmap(const Pose3& p);
/**
* Return relative pose between p1 and p2, in p1 coordinate frame
* as well as optionally the derivatives