31 lines
690 B
C++
31 lines
690 B
C++
/**
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* @file Pose3Config.cpp
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* @brief Configuration of 3D poses
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* @author Frank Dellaert
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*/
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#pragma once
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#include "Pose3.h"
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#include "LieConfig.h"
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#include "Key.h"
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namespace gtsam {
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/**
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* Pose3Config is now simply a typedef
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*/
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typedef LieConfig<Symbol<Pose3,'x'>,Pose3> Pose3Config;
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/**
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* Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0,0)
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* The convention used is the Navlab/Aerospace convention: X-forward,Y-right,Z-down
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* @param n number of poses
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* @param R radius of circle
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* @param c character to use for keys
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* @return circle of n 2D poses
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*/
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Pose3Config pose3Circle(size_t n, double R);
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} // namespace
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