71 lines
2.0 KiB
C++
71 lines
2.0 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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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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void Rot2::print(const string& s) const {
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cout << s << ":" << angle() << 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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Rot2 Rot2::exmap(const Vector& v) const {
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if (zero(v)) return (*this);
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return Rot2(v(0)) * (*this);
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}
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/* ************************************************************************* */
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Rot2 exmap(const Rot2& R, const Vector& v) {
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return R.exmap(v);
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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 R * p;
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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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