222 lines
6.4 KiB
C++
222 lines
6.4 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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*@file Pose3.h
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*@brief 3D Pose
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*/
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// \callgraph
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#pragma once
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Rot3.h>
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namespace gtsam {
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/**
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* A 3D pose (R,t) : (Rot3,Point3)
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* @ingroup geometry
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*/
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class Pose3 {
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public:
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static const size_t dimension = 6;
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/** Pose Concept requirements */
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typedef Rot3 Rotation;
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typedef Point3 Translation;
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private:
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Rot3 R_;
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Point3 t_;
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public:
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/** Default constructor is origin */
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Pose3() {}
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/** Copy constructor */
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Pose3(const Pose3& pose) : R_(pose.R_), t_(pose.t_) {}
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/** Construct from R,t */
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Pose3(const Rot3& R, const Point3& t) : R_(R), t_(t) {}
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/** Constructor from 4*4 matrix */
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Pose3(const Matrix &T) :
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R_(T(0, 0), T(0, 1), T(0, 2), T(1, 0), T(1, 1), T(1, 2), T(2, 0),
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T(2, 1), T(2, 2)), t_(T(0, 3), T(1, 3), T(2, 3)) {}
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const Rot3& rotation() const { return R_; }
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const Point3& translation() const { return t_; }
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double x() const { return t_.x(); }
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double y() const { return t_.y(); }
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double z() const { return t_.z(); }
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/** convert to 4*4 matrix */
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Matrix matrix() const;
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/// @name Testable
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/// @{
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/// print with optional string
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void print(const std::string& s = "") const;
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/// assert equality up to a tolerance
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bool equals(const Pose3& pose, double tol = 1e-9) const;
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/// @}
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/// @name Group
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/// @{
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/// identity for group operation
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static Pose3 identity() { return Pose3(); }
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/// inverse transformation with derivatives
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Pose3 inverse(boost::optional<Matrix&> H1=boost::none) const;
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///compose this transformation onto another (first *this and then p2)
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Pose3 compose(const Pose3& p2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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/// MATLAB version returns shared pointer
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boost::shared_ptr<Pose3> compose_(const Pose3& p2) {
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return boost::shared_ptr<Pose3>(new Pose3(compose(p2)));
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}
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/// compose syntactic sugar
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Pose3 operator*(const Pose3& T) const {
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return Pose3(R_*T.R_, t_ + R_*T.t_);
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}
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/// @}
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/// @name Manifold
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/// @{
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/// Dimensionality of tangent space = 6 DOF - used to autodetect sizes
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static size_t Dim() { return dimension; }
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/// Dimensionality of the tangent space = 6 DOF
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size_t dim() const { return dimension; }
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/** Exponential map around another pose */ /// Retraction from R^6 to Pose3 manifold neighborhood around current pose
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Pose3 retract(const Vector& d) const;
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/// Logarithm map around another pose T1 /// Local 6D coordinates of Pose3 manifold neighborhood around current pose
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Vector localCoordinates(const Pose3& T2) const;
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/// @}
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/// @name Lie Group
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/// @{
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/// Exponential map from Lie algebra se(3) to SE(3)
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static Pose3 Expmap(const Vector& xi);
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/// Exponential map from SE(3) to Lie algebra se(3)
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static Vector Logmap(const Pose3& p);
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/// @}
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/** syntactic sugar for transform_from */
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inline Point3 operator*(const Point3& p) const { return transform_from(p); }
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Pose3 transform_to(const Pose3& pose) const;
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/** receives the point in Pose coordinates and transforms it to world coordinates */
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Point3 transform_from(const Point3& p,
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boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const;
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/** receives the point in world coordinates and transforms it to Pose coordinates */
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Point3 transform_to(const Point3& p,
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boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const;
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/**
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* Return relative pose between p1 and p2, in p1 coordinate frame
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* as well as optionally the derivatives
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*/
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Pose3 between(const Pose3& p2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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/// MATLAB version returns shared pointer
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boost::shared_ptr<Pose3> between_(const Pose3& p2) {
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return boost::shared_ptr<Pose3>(new Pose3(between(p2)));
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}
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/**
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* Calculate Adjoint map
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* Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi)
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*/
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Matrix AdjointMap() const; /// FIXME Not tested - marked as incorrect
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Vector Adjoint(const Vector& xi) const {return AdjointMap()*xi; } /// FIXME Not tested - marked as incorrect
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/**
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* wedge for Pose3:
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* @param xi 6-dim twist (omega,v) where
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* omega = (wx,wy,wz) 3D angular velocity
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* v (vx,vy,vz) = 3D velocity
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* @return xihat, 4*4 element of Lie algebra that can be exponentiated
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*/
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static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz) {
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return Matrix_(4,4,
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0.,-wz, wy, vx,
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wz, 0.,-wx, vy,
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-wy, wx, 0., vz,
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0., 0., 0., 0.);
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}
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/**
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* Calculate range to a landmark
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* @param point 3D location of landmark
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* @return range (double)
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*/
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double range(const Point3& point,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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/**
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* Calculate range to another pose
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* @param point SO(3) pose of landmark
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* @return range (double)
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*/
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double range(const Pose3& point,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_NVP(R_);
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ar & BOOST_SERIALIZATION_NVP(t_);
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}
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}; // Pose3 class
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/**
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* wedge for Pose3:
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* @param xi 6-dim twist (omega,v) where
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* omega = 3D angular velocity
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* v = 3D velocity
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* @return xihat, 4*4 element of Lie algebra that can be exponentiated
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*/
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template <>
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inline Matrix wedge<Pose3>(const Vector& xi) {
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return Pose3::wedge(xi(0),xi(1),xi(2),xi(3),xi(4),xi(5));
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}
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} // namespace gtsam
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