133 lines
3.4 KiB
C++
133 lines
3.4 KiB
C++
/**
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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 "Point3.h"
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#include "Rot3.h"
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namespace gtsam {
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/** A 3D pose (R,t) : (Rot3,Point3) */
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class Pose3 {
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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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Pose3() {
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} // default is origin
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Pose3(const Pose3& pose) :
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R_(pose.R_), t_(pose.t_) {
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}
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Pose3(const Rot3& R, const Point3& t) :
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R_(R), t_(t) {
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}
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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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}
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/** constructor from 12D vector */
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Pose3(const Vector &V) :
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R_(V(0), V(3), V(6), V(1), V(4), V(7), V(2), V(5), V(8)), t_(V(9), V(10),
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V(11)) {
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}
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const Rot3& rotation() const {
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return R_;
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}
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const Point3& translation() const {
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return t_;
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}
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/** return DOF, dimensionality of tangent space = 6 */
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size_t dim() const {
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return 6;
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}
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/** Given 6-dim tangent vector, create new pose */
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Pose3 exmap(const Vector& d) const;
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/** inverse transformation */
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Pose3 inverse() const;
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/** composition */
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inline Pose3 operator*(const Pose3& B) const {
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return Pose3(matrix() * B.matrix());
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}
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/** return 12D vectorized form (column-wise) */
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Vector vector() const {
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Vector r = R_.vector(), t = t_.vector();
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return concatVectors(2, &r, &t);
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}
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/** convert to 4*4 matrix */
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Matrix matrix() const {
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const double row4[] = { 0, 0, 0, 1 };
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Matrix A34 = Matrix_(3, 4, vector()), A14 = Matrix_(1, 4, row4);
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return stack(2, &A34, &A14);
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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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R_.print(s + ".R");
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t_.print(s + ".t");
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}
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/** transforms */
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Pose3 transformPose_to(const Pose3& transform) 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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/** friends */
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friend Point3 transform_from(const Pose3& pose, const Point3& p);
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friend Point3 transform_to(const Pose3& pose, const Point3& p);
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friend Pose3 composeTransform(const Pose3& current, const Pose3& target);
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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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/** finds a transform from the current frame to the target frame given two coordinates of the same point */
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Pose3 composeTransform(const Pose3& current, const Pose3& target);
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/** receives the point in Pose coordinates and transforms it to world coordinates */
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Point3 transform_from(const Pose3& pose, const Point3& p);
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Matrix Dtransform_from1(const Pose3& pose, const Point3& p);
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Matrix Dtransform_from2(const Pose3& pose); // does not depend on p !
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/** receives the point in world coordinates and transforms it to Pose coordinates */
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Point3 transform_to(const Pose3& pose, const Point3& p);
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Matrix Dtransform_to1(const Pose3& pose, const Point3& p);
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Matrix Dtransform_to2(const Pose3& pose); // does not depend on p !
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/** direct measurement of a pose */
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Vector hPose(const Vector& x);
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/**
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* derivative of direct measurement
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* 12*6, entry i,j is how measurement error will change
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*/
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Matrix DhPose(const Vector& x);
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/** assert equality up to a tolerance */
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bool assert_equal(const Pose3& A, const Pose3& B, double tol = 1e-9);
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} // namespace gtsam
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