92 lines
2.5 KiB
C++
92 lines
2.5 KiB
C++
/**
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* @file LieVector.h
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* @brief A wrapper around vector providing Lie compatibility
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Lie.h>
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#include <gtsam/base/Vector.h>
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namespace gtsam {
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/**
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* LieVector is a wrapper around vector to allow it to be a Lie type
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*/
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struct LieVector : public Vector, public Lie<LieVector>, Testable<LieVector> {
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/** default constructor - should be unnecessary */
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LieVector() {}
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/** initialize from a normal vector */
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LieVector(const Vector& v) : Vector(v) {}
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/** wrap a double */
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LieVector(double d) : Vector(Vector_(1, d)) {}
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/** constructor with size and initial data, row order ! */
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LieVector(size_t m, const double* const data);
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/** Specify arguments directly, as in Vector_() - always force these to be doubles */
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LieVector(size_t m, ...);
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/** get the underlying vector */
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inline Vector vector() const {
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return static_cast<Vector>(*this);
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}
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/** print @param s optional string naming the object */
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inline void print(const std::string& name="") const {
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gtsam::print(vector(), name);
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}
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/** equality up to tolerance */
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inline bool equals(const LieVector& expected, double tol=1e-5) const {
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return gtsam::equal(vector(), expected.vector(), tol);
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}
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/**
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* Returns dimensionality of the tangent space
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*/
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inline size_t dim() const { return this->size(); }
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/**
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* Returns Exponential map update of T
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* Default implementation calls global binary function
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*/
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inline LieVector expmap(const Vector& v) const { return LieVector(vector() + v); }
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/** expmap around identity */
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static inline LieVector Expmap(const Vector& v) { return LieVector(v); }
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/**
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* Returns Log map
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* Default Implementation calls global binary function
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*/
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inline Vector logmap(const LieVector& lp) const {
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// return Logmap(between(lp)); // works
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return lp.vector() - vector();
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}
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/** Logmap around identity - just returns with default cast back */
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static inline Vector Logmap(const LieVector& p) { return p; }
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/** compose with another object */
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inline LieVector compose(const LieVector& p) const {
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return LieVector(vector() + p);
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}
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/** between operation */
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inline LieVector between(const LieVector& l2) const {
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return LieVector(l2.vector() - vector());
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}
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/** invert the object and yield a new one */
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inline LieVector inverse() const {
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return LieVector(-1.0 * vector());
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}
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};
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} // \namespace gtsam
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