39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
/**
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* @file Pose2Config.cpp
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* @brief Configuration of 2D poses
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* @author Frank Dellaert
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*/
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#include "Pose2Config.h"
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#include "LieConfig-inl.h"
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using namespace std;
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namespace gtsam {
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/** Explicit instantiation of templated methods and functions */
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template class LieConfig<Pose2>;
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template size_t dim(const LieConfig<Pose2>& c);
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template LieConfig<Pose2> expmap(const LieConfig<Pose2>& c, const Vector& delta);
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template LieConfig<Pose2> expmap(const LieConfig<Pose2>& c, const VectorConfig& delta);
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/* ************************************************************************* */
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// TODO: local version, should probably defined in LieConfig
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static string symbol(char c, int index) {
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stringstream ss;
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ss << c << index;
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return ss.str();
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}
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/* ************************************************************************* */
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Pose2Config pose2Circle(size_t n, double R, char c) {
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Pose2Config x;
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double theta = 0, dtheta = 2*M_PI/n;
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for(size_t i=0;i<n;i++, theta+=dtheta)
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x.insert(symbol(c,i), Pose2(cos(theta), sin(theta), M_PI_2 + theta));
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return x;
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}
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/* ************************************************************************* */
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} // namespace
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