89 lines
2.6 KiB
C++
89 lines
2.6 KiB
C++
/*
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* Rot2.cpp
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*
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* Created on: Dec 9, 2009
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* Author: Frank Dellaert
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*/
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#include "Rot2.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<Rot2>;
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/* ************************************************************************* */
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void Rot2::print(const string& s) const {
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cout << s << ":" << theta() << endl;
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}
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/* ************************************************************************* */
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bool Rot2::equals(const Rot2& R, double tol) const {
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return fabs(c_ - R.c_) <= tol && fabs(s_ - R.s_) <= tol;
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}
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/* ************************************************************************* */
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Matrix Rot2::matrix() const {
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return Matrix_(2, 2, c_, -s_, s_, c_);
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}
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/* ************************************************************************* */
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Matrix Rot2::transpose() const {
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return Matrix_(2, 2, c_, s_, -s_, c_);
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}
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/* ************************************************************************* */
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Matrix Rot2::negtranspose() const {
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return Matrix_(2, 2, -c_, -s_, s_, -c_);
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}
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/* ************************************************************************* */
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Point2 Rot2::unrotate(const Point2& p) const {
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return Point2(
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c_ * p.x() + s_ * p.y(),
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-s_ * p.x() + c_ * p.y()
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);
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}
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/* ************************************************************************* */
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Point2 rotate(const Rot2& R, const Point2& p) {
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return Point2(
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R.c() * p.x() - R.s() * p.y(),
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R.s() * p.x() + R.c() * p.y());
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}
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/* ************************************************************************* */
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// see libraries/caml/geometry/math.ml
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Matrix Drotate1(const Rot2& R, const Point2& p) {
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Point2 q = R*p;
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return Matrix_(2, 1, -q.y(), q.x());
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}
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/* ************************************************************************* */
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Matrix Drotate2(const Rot2& R) {
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return R.matrix();
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}
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/* ************************************************************************* */
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Point2 unrotate(const Rot2& R, const Point2& p) {
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return R.unrotate(p);
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}
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/* ************************************************************************* */
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/** see libraries/caml/geometry/math.lyx, derivative of unrotate */
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/* ************************************************************************* */
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Matrix Dunrotate1(const Rot2 & R, const Point2 & p) {
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Point2 q = R.unrotate(p);
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return Matrix_(2, 1, q.y(), -q.x());
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}
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/* ************************************************************************* */
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Matrix Dunrotate2(const Rot2 & R) {
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return R.transpose();
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}
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} // gtsam
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