126 lines
3.9 KiB
C++
126 lines
3.9 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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INSTANTIATE_LIE(Pose2);
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static const Matrix I3 = eye(3);
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/* ************************************************************************* */
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Matrix Pose2::matrix() const {
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Matrix R = r_.matrix();
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Matrix Z = zeros(1,2);
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R = stack(2, &R, &Z);
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Matrix T = Matrix_(3,1, t_.x(), t_.y(), 1.0);
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return collect(2, &R, &T);
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}
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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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Pose2 between(const Pose2& p1, const Pose2& p2, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) {
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// get cosines and sines from rotation matrices
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const Rot2& R1 = p1.r(), R2 = p2.r();
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double c1=R1.c(), s1=R1.s(), c2=R2.c(), s2=R2.s();
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// Calculate delta rotation = between(R1,R2)
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double c = c1 * c2 + s1 * s2, s = -s1 * c2 + c1 * s2;
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Rot2 R(c,s);
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// Calculate delta translation = unrotate(R1, dt);
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Point2 dt = p2.t() - p1.t();
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double x = dt.x(), y = dt.y();
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Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y);
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// FD: I don't understand this code (a performance-driven transformation
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// from Richard's heavier code) but it works.
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if (H1) {
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double dt1 = -s2 * x + c2 * y;
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double dt2 = -c2 * x - s2 * y;
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*H1 = Matrix_(3,3,
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-c, -s, dt1,
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s, -c, dt2,
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0.0, 0.0, -1.0);
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}
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if (H2) *H2 = I3;
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return Pose2(R,t);
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}
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/* ************************************************************************* */
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Rot2 bearing(const Pose2& pose, const Point2& point) {
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Point2 d = transform_to(pose, point);
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return relativeBearing(d);
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}
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Rot2 bearing(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
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if (!H1 && !H2) return bearing(pose, point);
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Point2 d = transform_to(pose, point);
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Matrix D_result_d;
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Rot2 result = relativeBearing(d, D_result_d);
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if (H1) *H1 = D_result_d * Dtransform_to1(pose, point);
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if (H2) *H2 = D_result_d * Dtransform_to2(pose, point);
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return result;
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}
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/* ************************************************************************* */
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double range(const Pose2& pose, const Point2& point) {
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Point2 d = transform_to(pose, point);
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return d.norm();
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}
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double range(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
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if (!H1 && !H2) return range(pose, point);
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Point2 d = transform_to(pose, point);
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double x = d.x(), y = d.y(), d2 = x * x + y * y, n = sqrt(d2);
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Matrix D_result_d = Matrix_(1, 2, x / n, y / n);
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if (H1) *H1 = D_result_d * Dtransform_to1(pose, point);
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if (H2) *H2 = D_result_d * Dtransform_to2(pose, point);
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return n;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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