/** Named constructor from angle == exponential map at identity */
static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));}
/** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
static Rot2 fromCosSin(double c, double s);
/** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */
static Rot2 atan2(double y, double x);
which are a bit more verbose, but at least won't cause hours of bug-tracking :-(
I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
Frank Dellaert
Richard Roberts
Chris Beall
Viorela Ila
Brian Law
Manohar Paluri