208 lines
6.6 KiB
C++
208 lines
6.6 KiB
C++
/**
|
|
* @file Pose3.cpp
|
|
* @brief 3D Pose
|
|
*/
|
|
|
|
#include <iostream>
|
|
#include "Pose3.h"
|
|
#include "Lie-inl.h"
|
|
#include "LieConfig.h"
|
|
|
|
using namespace std;
|
|
using namespace boost::numeric::ublas;
|
|
|
|
namespace gtsam {
|
|
|
|
/** Explicit instantiation of base class to export members */
|
|
INSTANTIATE_LIE(Pose3);
|
|
|
|
static const Matrix I3 = eye(3), I6 = eye(6), Z3 = zeros(3, 3);
|
|
|
|
/* ************************************************************************* */
|
|
// Calculate Adjoint map
|
|
// Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi)
|
|
// Experimental - unit tests of derivatives based on it do not check out yet
|
|
static Matrix AdjointMap(const Pose3& p) {
|
|
const Matrix R = p.rotation().matrix();
|
|
const Vector t = p.translation().vector();
|
|
Matrix A = skewSymmetric(t)*R;
|
|
Matrix DR = collect(2, &R, &Z3);
|
|
Matrix Dt = collect(2, &A, &R);
|
|
return gtsam::stack(2, &DR, &Dt);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Pose3::print(const string& s) const {
|
|
R_.print(s + ".R");
|
|
t_.print(s + ".t");
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
bool Pose3::equals(const Pose3& pose, double tol) const {
|
|
return R_.equals(pose.R_,tol) && t_.equals(pose.t_,tol);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
|
|
#ifdef SLOW_BUT_CORRECT_EXPMAP
|
|
|
|
/** Agrawal06iros versions of expmap and logmap*/
|
|
template<> Pose3 expmap(const Vector& d) {
|
|
Vector w = vector_range<const Vector>(d, range(0,3));
|
|
Vector u = vector_range<const Vector>(d, range(3,6));
|
|
double t = norm_2(w);
|
|
if (t < 1e-5)
|
|
return Pose3(Rot3(), expmap<Point3> (u));
|
|
else {
|
|
Matrix W = skewSymmetric(w/t);
|
|
Matrix A = I3 + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W);
|
|
return Pose3(expmap<Rot3> (w), expmap<Point3> (A * u));
|
|
}
|
|
}
|
|
|
|
Vector logmap(const Pose3& p) {
|
|
Vector w = logmap(p.rotation()), T = p.translation().vector();
|
|
double t = norm_2(w);
|
|
if (t < 1e-5)
|
|
return concatVectors(2, &w, &T);
|
|
else {
|
|
Matrix W = skewSymmetric(w/t);
|
|
Matrix Ainv = I3 - 0.5*t* W + ((2*sin(t)-t*(1+cos(t)))/2*sin(t)) * (W * W);
|
|
Vector u = Ainv*T;
|
|
return concatVectors(2, &w, &u);
|
|
}
|
|
}
|
|
|
|
#else
|
|
|
|
/* incorrect versions for which we know how to compute derivatives */
|
|
template<> Pose3 expmap(const Vector& d) {
|
|
Vector w = sub(d, 0,3);
|
|
Vector u = sub(d, 3,6);
|
|
return Pose3(expmap<Rot3> (w), expmap<Point3> (u));
|
|
}
|
|
|
|
// Log map at identity - return the translation and canonical rotation
|
|
// coordinates of a pose.
|
|
Vector logmap(const Pose3& p) {
|
|
const Vector w = logmap(p.rotation()), u = logmap(p.translation());
|
|
return concatVectors(2, &w, &u);
|
|
}
|
|
|
|
#endif
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Pose3::matrix() const {
|
|
const Matrix R = R_.matrix(), T = Matrix_(3,1, t_.vector());
|
|
const Matrix A34 = collect(2, &R, &T);
|
|
const Matrix A14 = Matrix_(1,4, 0.0, 0.0, 0.0, 1.0);
|
|
return gtsam::stack(2, &A34, &A14);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Pose3 Pose3::transform_to(const Pose3& pose) const {
|
|
Rot3 cRv = R_ * Rot3(inverse(pose.R_));
|
|
Point3 t = gtsam::transform_to(pose, t_);
|
|
return Pose3(cRv, t);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Point3 transform_from(const Pose3& pose, const Point3& p) {
|
|
return pose.rotation() * p + pose.translation();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dtransform_from1(const Pose3& pose, const Point3& p) {
|
|
#ifdef NEW_EXMAP
|
|
Point3 q = transform_from(pose,p);
|
|
Matrix DR = skewSymmetric(-q.x(), -q.y(), -q.z());
|
|
#else
|
|
Matrix DR = Drotate1(pose.rotation(), p);
|
|
#endif
|
|
return collect(2,&DR,&I3);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dtransform_from2(const Pose3& pose) {
|
|
return pose.rotation().matrix();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Point3 transform_to(const Pose3& pose, const Point3& p) {
|
|
Point3 sub = p - pose.translation();
|
|
return unrotate(pose.rotation(), sub);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dtransform_to1(const Pose3& pose, const Point3& p) {
|
|
Point3 q = transform_to(pose,p);
|
|
Matrix DR = skewSymmetric(q.x(), q.y(), q.z());
|
|
Matrix DT = - pose.rotation().transpose(); // negative because of sub
|
|
return collect(2,&DR,&DT);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dtransform_to2(const Pose3& pose, const Point3& p) {
|
|
return pose.rotation().transpose();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// compose = Pose3(compose(R1,R2),transform_from(p1,t2)
|
|
Matrix Dcompose1(const Pose3& p1, const Pose3& p2) {
|
|
#ifdef SLOW_BUT_CORRECT_EXPMAP
|
|
// actually does NOT pan out at the moment
|
|
return AdjointMap(p2);
|
|
#else
|
|
const Rot3& R2 = p2.rotation();
|
|
const Point3& t2 = p2.translation();
|
|
Matrix DR_R1 = R2.transpose(), DR_t1 = Z3;
|
|
Matrix DR = collect(2, &DR_R1, &DR_t1);
|
|
Matrix Dt = Dtransform_from1(p1, t2);
|
|
return gtsam::stack(2, &DR, &Dt);
|
|
#endif
|
|
}
|
|
|
|
Matrix Dcompose2(const Pose3& p1, const Pose3& p2) {
|
|
#ifdef SLOW_BUT_CORRECT_EXPMAP
|
|
return I6;
|
|
#else
|
|
Matrix R1 = p1.rotation().matrix();
|
|
Matrix DR = collect(2, &I3, &Z3);
|
|
Matrix Dt = collect(2, &Z3, &R1);
|
|
return gtsam::stack(2, &DR, &Dt);
|
|
#endif
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// inverse = Pose3(inverse(R),-unrotate(R,t));
|
|
// TODO: combined function will save !
|
|
Matrix Dinverse(const Pose3& p) {
|
|
#ifdef SLOW_BUT_CORRECT_EXPMAP
|
|
// actually does NOT pan out at the moment
|
|
return - AdjointMap(p);
|
|
#else
|
|
const Rot3& R = p.rotation();
|
|
const Point3& t = p.translation();
|
|
Matrix Rt = R.transpose();
|
|
Matrix DR_R1 = -R.matrix(), DR_t1 = Z3;
|
|
Matrix Dt_R1 = -skewSymmetric(unrotate(R,t).vector()), Dt_t1 = -Rt;
|
|
Matrix DR = collect(2, &DR_R1, &DR_t1);
|
|
Matrix Dt = collect(2, &Dt_R1, &Dt_t1);
|
|
return gtsam::stack(2, &DR, &Dt);
|
|
#endif
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// between = compose(p2,inverse(p1));
|
|
Pose3 between(const Pose3& p1, const Pose3& p2, boost::optional<Matrix&> H1,
|
|
boost::optional<Matrix&> H2) {
|
|
Pose3 invp1 = inverse(p1);
|
|
Pose3 result = compose(invp1, p2);
|
|
if (H1) *H1 = Dcompose1(invp1, p2) * Dinverse(p1);
|
|
if (H2) *H2 = Dcompose2(invp1, p2);
|
|
return result;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
} // namespace gtsam
|