69 lines
2.1 KiB
C++
69 lines
2.1 KiB
C++
/**
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* @file Pose2.cpp
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* @brief 2D Pose
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*/
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#include "Pose2.h"
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#include "Lie-inl.h"
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using namespace std;
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namespace gtsam {
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/** Explicit instantiation of base class to export members */
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template class Lie<Pose2>;
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/* ************************************************************************* */
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void Pose2::print(const string& s) const {
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cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl;
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}
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/* ************************************************************************* */
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bool Pose2::equals(const Pose2& q, double tol) const {
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return t_.equals(q.t_, tol) && r_.equals(q.r_, tol);
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}
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/* ************************************************************************* */
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Point2 transform_to(const Pose2& pose, const Point2& point, boost::optional<
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Matrix&> H1, boost::optional<Matrix&> H2) {
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const Rot2& R = pose.r();
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Point2 d = point - pose.t();
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Point2 q = R.unrotate(d);
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if (!H1 && !H2) return q;
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if (H1) *H1 = Matrix_(2, 3,
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-1.0, 0.0, q.y(),
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0.0, -1.0, -q.x());
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if (H2) *H2 = R.transpose();
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return q;
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}
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Matrix Dtransform_to1(const Pose2& pose, const Point2& point) {
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Matrix H; transform_to(pose, point, H, boost::none); return H;
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}
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Matrix Dtransform_to2(const Pose2& pose, const Point2& point) {
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Matrix H; transform_to(pose, point, boost::none, H); return H;
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}
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/* ************************************************************************* */
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Matrix Dbetween1(const Pose2& p0, const Pose2& p2) {
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Matrix dt_dr = Dunrotate1(p0.r(), p2.t()-p0.t());
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Matrix dt_dt1 = -invcompose(p2.r(), p0.r()).matrix();
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Matrix dt_dr1 = Dunrotate1(p2.r(), p2.t()-p0.t());
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return Matrix_(3,3,
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dt_dt1(0,0), dt_dt1(0,1), dt_dr1(0,0),
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dt_dt1(1,0), dt_dt1(1,1), dt_dr1(1,0),
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0.0, 0.0, -1.0);
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}
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Matrix Dbetween2(const Pose2& p0, const Pose2& p2) {
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Matrix db_dt2 = p0.r().transpose();
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return Matrix_(3,3,
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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