135 lines
4.0 KiB
C++
135 lines
4.0 KiB
C++
/**
|
|
* @file Point3.h
|
|
* @brief 3D Point
|
|
* @author Alireza Fathi
|
|
* @author Christian Potthast
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <boost/serialization/nvp.hpp>
|
|
|
|
#include "Matrix.h"
|
|
#include "Testable.h"
|
|
#include "Lie.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/** A 3D point */
|
|
class Point3: Testable<Point3>, public Lie<Point3> {
|
|
private:
|
|
double x_, y_, z_;
|
|
|
|
public:
|
|
Point3(): x_(0), y_(0), z_(0) {}
|
|
Point3(const Point3 &p) : x_(p.x_), y_(p.y_), z_(p.z_) {}
|
|
Point3(double x, double y, double z): x_(x), y_(y), z_(z) {}
|
|
Point3(const Vector& v) : x_(v(0)), y_(v(1)), z_(v(2)) {}
|
|
|
|
/** print with optional string */
|
|
void print(const std::string& s = "") const;
|
|
|
|
/** equals with an tolerance */
|
|
bool equals(const Point3& p, double tol = 1e-9) const;
|
|
|
|
/** return vectorized form (column-wise)*/
|
|
Vector vector() const {
|
|
//double r[] = { x_, y_, z_ };
|
|
Vector v(3); v(0)=x_; v(1)=y_; v(2)=z_;
|
|
return v;
|
|
}
|
|
|
|
/** get functions for x, y, z */
|
|
double x() const {return x_;}
|
|
double y() const {return y_;}
|
|
double z() const {return z_;}
|
|
|
|
/** operators */
|
|
Point3 operator - () const { return Point3(-x_,-y_,-z_);}
|
|
bool operator ==(const Point3& q) const;
|
|
Point3 operator + (const Point3& q) const;
|
|
Point3 operator - (const Point3& q) const;
|
|
Point3 operator * (double s) const;
|
|
Point3 operator / (double s) const;
|
|
|
|
/** distance between two points */
|
|
double dist(const Point3& p2) const {
|
|
return sqrt(pow(x()-p2.x(),2.0) + pow(y()-p2.y(),2.0) + pow(z()-p2.z(),2.0));
|
|
}
|
|
|
|
/** friends */
|
|
friend Point3 cross(const Point3 &p1, const Point3 &p2);
|
|
friend double dot(const Point3 &p1, const Point3 &p2);
|
|
friend double norm(const Point3 &p1);
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class Archive>
|
|
void serialize(Archive & ar, const unsigned int version)
|
|
{
|
|
ar & BOOST_SERIALIZATION_NVP(x_);
|
|
ar & BOOST_SERIALIZATION_NVP(y_);
|
|
ar & BOOST_SERIALIZATION_NVP(z_);
|
|
}
|
|
};
|
|
|
|
|
|
/** Global print calls member function */
|
|
inline void print(const Point3& p, const std::string& s) { p.print(s); }
|
|
inline void print(const Point3& p) { p.print(); }
|
|
|
|
/** return DOF, dimensionality of tangent space */
|
|
inline size_t dim(const Point3&) { return 3; }
|
|
|
|
/** Exponential map at identity - just create a Point3 from x,y,z */
|
|
template<> inline Point3 expmap(const Vector& dp) { return Point3(dp); }
|
|
|
|
/** Log map at identity - return the x,y,z of this point */
|
|
inline Vector logmap(const Point3& dp) { return Vector_(3, dp.x(), dp.y(), dp.z()); }
|
|
|
|
/** "Compose" - just adds coordinates of two points */
|
|
inline Point3 compose(const Point3& p1, const Point3& p0) { return p0+p1; }
|
|
inline Matrix Dcompose1(const Point3& p1, const Point3& p0) {
|
|
return Matrix_(3,3,
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0);
|
|
}
|
|
inline Matrix Dcompose2(const Point3& p1, const Point3& p0) {
|
|
return Matrix_(3,3,
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0);
|
|
}
|
|
|
|
/** "Inverse" - negates the coordinates such that compose(p, inverse(p)) = Point3() */
|
|
inline Point3 inverse(const Point3& p) { return Point3(-p.x(), -p.y(), -p.z()); }
|
|
|
|
|
|
/** Syntactic sugar for multiplying coordinates by a scalar s*p */
|
|
inline Point3 operator*(double s, const Point3& p) { return p*s;}
|
|
|
|
/** add two points, add(p,q) is same as p+q */
|
|
Point3 add (const Point3 &p, const Point3 &q);
|
|
Matrix Dadd1(const Point3 &p, const Point3 &q);
|
|
Matrix Dadd2(const Point3 &p, const Point3 &q);
|
|
|
|
/** subtract two points, sub(p,q) is same as p-q */
|
|
Point3 sub (const Point3 &p, const Point3 &q);
|
|
Matrix Dsub1(const Point3 &p, const Point3 &q);
|
|
Matrix Dsub2(const Point3 &p, const Point3 &q);
|
|
|
|
/** cross product */
|
|
Point3 cross(const Point3 &p, const Point3 &q);
|
|
|
|
/** dot product */
|
|
double dot(const Point3 &p, const Point3 &q);
|
|
|
|
/** dot product */
|
|
double norm(const Point3 &p);
|
|
}
|