92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
/**
|
|
* @file Point2.h
|
|
* @brief 2D Point
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <boost/serialization/nvp.hpp>
|
|
#include "Vector.h"
|
|
#include "Matrix.h"
|
|
#include "Testable.h"
|
|
#include "Lie.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* A 2D point
|
|
* Derived from testable so has standard print and equals, and assert_equals works
|
|
* Functional, so no set functions: once created, a point is constant.
|
|
*/
|
|
class Point2: Testable<Point2>, public Lie<Point2> {
|
|
private:
|
|
double x_, y_;
|
|
|
|
public:
|
|
Point2(): x_(0), y_(0) {}
|
|
Point2(const Point2 &p) : x_(p.x_), y_(p.y_) {}
|
|
Point2(double x, double y): x_(x), y_(y) {}
|
|
Point2(const Vector& v) : x_(v(0)), y_(v(1)) {}
|
|
|
|
/** print with optional string */
|
|
void print(const std::string& s = "") const;
|
|
|
|
/** equals with an tolerance, prints out message if unequal*/
|
|
bool equals(const Point2& q, double tol = 1e-9) const;
|
|
|
|
/** get functions for x, y */
|
|
double x() const {return x_;}
|
|
double y() const {return y_;}
|
|
|
|
/** return vectorized form (column-wise) */
|
|
Vector vector() const { return Vector_(2, x_, y_); }
|
|
|
|
/** operators */
|
|
inline bool operator ==(const Point2& q) const {return x_==q.x_ && q.y_==q.y_;}
|
|
inline Point2 operator + (const Point2& q) const {return Point2(x_+q.x_,y_+q.y_);}
|
|
inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);}
|
|
inline Point2 operator / (double q) const {return Point2(x_/q,y_/q);}
|
|
|
|
/** distance between two points */
|
|
double dist(const Point2& p2) const;
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class Archive>
|
|
void serialize(Archive & ar, const unsigned int version)
|
|
{
|
|
ar & BOOST_SERIALIZATION_NVP(x_);
|
|
ar & BOOST_SERIALIZATION_NVP(y_);
|
|
}
|
|
};
|
|
|
|
// Lie group functions
|
|
|
|
// Dimensionality of the tangent space
|
|
inline size_t dim(const Point2& obj) { return 2; }
|
|
|
|
// Exponential map around identity - just create a Point2 from a vector
|
|
template<> inline Point2 expmap(const Vector& dp) { return Point2(dp); }
|
|
|
|
// Log map around identity - just return the Point2 as a vector
|
|
inline Vector logmap(const Point2& dp) { return Vector_(2, dp.x(), dp.y()); }
|
|
|
|
// "Compose", just adds the coordinates of two points.
|
|
inline Point2 compose(const Point2& p1, const Point2& p0) { return p0+p1; }
|
|
inline Matrix Dcompose1(const Point2& p1, const Point2& p0) {
|
|
return Matrix_(2,2,
|
|
1.0, 0.0,
|
|
0.0, 1.0); }
|
|
inline Matrix Dcompose2(const Point2& p1, const Point2& p0) {
|
|
return Matrix_(2,2,
|
|
1.0, 0.0,
|
|
0.0, 1.0); }
|
|
|
|
// "Inverse" - negates each coordinate such that compose(p,inverse(p))=Point2()
|
|
inline Point2 inverse(const Point2& p) { return Point2(-p.x(), -p.y()); }
|
|
|
|
}
|
|
|