136 lines
4.0 KiB
C++
136 lines
4.0 KiB
C++
/*
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* Lie.h
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*
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* Created on: Jan 5, 2010
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* Author: Richard Roberts
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*/
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#pragma once
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#include <string>
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#include <gtsam/base/Matrix.h>
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namespace gtsam {
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template<class T>
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T expmap(const Vector& v); /* Exponential map about identity */
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// The following functions may be overridden in your own class file
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// with more efficient versions if possible.
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// Compute l1 s.t. l2=l1*l0
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template<class T>
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inline T between(const T& l1, const T& l2) { return compose(inverse(l1),l2); }
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// Log map centered at l0, s.t. exp(l0,log(l0,lp)) = lp
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template<class T>
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inline Vector logmap(const T& l0, const T& lp) { return logmap(between(l0,lp)); }
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/* Exponential map centered at l0, s.t. exp(t,d) = t*exp(d) */
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template<class T>
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inline T expmap(const T& t, const Vector& d) { return compose(t,expmap<T>(d)); }
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/**
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* Base class for Lie group type
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*/
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template <class T>
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class Lie {
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public:
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/**
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* Returns dimensionality of the tangent space
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*/
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size_t dim() const;
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/**
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* Returns Exponential mapy
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*/
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T expmap(const Vector& v) const;
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/**
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* Returns Log map
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*/
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Vector logmap(const T& lp) const;
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};
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/** Call print on the object */
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template<class T>
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inline void print_(const T& object, const std::string& s = "") {
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object.print(s);
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}
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/** Call equal on the object */
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template<class T>
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inline bool equal(const T& obj1, const T& obj2, double tol) {
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return obj1.equals(obj2, tol);
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}
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/** Call equal on the object without tolerance (use default tolerance) */
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template<class T>
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inline bool equal(const T& obj1, const T& obj2) {
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return obj1.equals(obj2);
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}
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// The rest of the file makes double and Vector behave as a Lie type (with + as compose)
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// double,+ group operations
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inline double compose(double p1,double p2) { return p1+p2;}
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inline double inverse(double p) { return -p;}
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inline double between(double p1,double p2) { return p2-p1;}
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// double,+ is a trivial Lie group
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template<> inline double expmap(const Vector& d) { return d(0);}
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template<> inline double expmap(const double& p,const Vector& d) { return p+d(0);}
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inline Vector logmap(const double& p) { return repeat(1,p);}
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inline Vector logmap(const double& p1,const double& p2) { return Vector_(1,p2-p1);}
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// Global functions needed for double
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inline size_t dim(const double& v) { return 1; }
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// Vector group operations
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inline Vector compose(const Vector& p1,const Vector& p2) { return p1+p2;}
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inline Vector inverse(const Vector& p) { return -p;}
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inline Vector between(const Vector& p1,const Vector& p2) { return p2-p1;}
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// Vector is a trivial Lie group
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template<> inline Vector expmap(const Vector& d) { return d;}
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template<> inline Vector expmap(const Vector& p,const Vector& d) { return p+d;}
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inline Vector logmap(const Vector& p) { return p;}
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inline Vector logmap(const Vector& p1,const Vector& p2) { return p2-p1;}
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/**
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* Three term approximation of the Baker<65>Campbell<6C>Hausdorff formula
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* In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y)
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* it is not true that Z = X+Y. Instead, Z can be calculated using the BCH
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* formula: Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24
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* http://en.wikipedia.org/wiki/Baker<65>Campbell<6C>Hausdorff_formula
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*/
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template<class T>
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T BCH(const T& X, const T& Y) {
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static const double _2 = 1. / 2., _12 = 1. / 12., _24 = 1. / 24.;
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T X_Y = bracket(X, Y);
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return X + Y + _2 * X_Y + _12 * bracket(X - Y, X_Y) - _24 * bracket(Y,
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bracket(X, X_Y));
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}
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/**
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* Declaration of wedge (see Murray94book) used to convert
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* from n exponential coordinates to n*n element of the Lie algebra
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*/
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template <class T> Matrix wedge(const Vector& x);
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/**
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* Exponential map given exponential coordinates
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* class T needs a wedge<> function and a constructor from Matrix
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* @param x exponential coordinates, vector of size n
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* @ return a T
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*/
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template <class T>
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T expm(const Vector& x, int K=7) {
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Matrix xhat = wedge<T>(x);
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return expm(xhat,K);
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}
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} // namespace gtsam
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