Similarity3.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/dllexport.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h>
 
namespace gtsam {
 
// Forward declarations
class Pose3;

class GTSAM_EXPORT Similarity3 : public MatrixLieGroup<Similarity3, 7, 4> {
 public:
  typedef Rot3 Rotation;
  typedef Point3 Translation;
 
  using Vector16 = Eigen::Matrix<double, 16, 1>;
 
 private:
  Rot3 R_;
  Point3 t_;
  double s_;
 
 public:

  Similarity3();

  Similarity3(double s);

  Similarity3(const Rot3& R, const Point3& t, double s);

  Similarity3(const Matrix3& R, const Vector3& t, double s);

  Similarity3(const Matrix4& T);
 
  


  bool equals(const Similarity3& sim, double tol) const;

  bool operator==(const Similarity3& other) const;

  void print(const std::string& s = "") const;
 
  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Similarity3& p);


  static Similarity3 Identity();

  Similarity3 operator*(const Similarity3& S) const;

  Similarity3 inverse() const;


  Point3 transformFrom(const Point3& p,                          //
                       OptionalJacobian<3, 7> H1 = {},  //
                       OptionalJacobian<3, 3> H2 = {}) const;

  Pose3 transformFrom(const Pose3& T, 
    OptionalJacobian<6, 7> H1 = {},  //
    OptionalJacobian<6, 6> H2 = {}) const;

  Point3 operator*(const Point3& p) const;

  static Similarity3 Align(const Point3Pairs& abPointPairs);

  static Similarity3 Align(const Pose3Pairs& abPosePairs);

 
  using LieAlgebra = Matrix4;

  static Vector7 Logmap(const Similarity3& s);

  static Similarity3 Expmap(const Vector7& v);

  struct ChartAtOrigin {
    static Similarity3 Retract(const Vector7& v) {
      return Similarity3::Expmap(v);
    }
    static Vector7 Local(const Similarity3& other) {
      return Similarity3::Logmap(other);
    }
  };
 
  using LieGroup<Similarity3, 7>::inverse;

  Matrix7 AdjointMap() const;

  static Matrix7 adjointMap(const Vector7& xi);

  static Matrix4 Hat(const Vector7& xi);

  static Vector7 Vee(const Matrix4& X);


  Matrix4 matrix() const;

  Rot3 rotation(OptionalJacobian<3, 7> Hself = {}) const;

  Point3 translation(OptionalJacobian<3, 7> Hself = {}) const;

  double scale(OptionalJacobian<1, 7> Hself = {}) const;

 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
    static Matrix4 wedge(const Vector7& xi) {
      return Similarity3::Hat(xi);
    }
#endif
  
 
 private:
 
  #if GTSAM_ENABLE_BOOST_SERIALIZATION
    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_NVP(R_);
      ar & BOOST_SERIALIZATION_NVP(t_);
      ar & BOOST_SERIALIZATION_NVP(s_);
    }
  #endif

  static Matrix3 GetV(Vector3 w, double lambda);

};
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
template <>
inline Matrix wedge<Similarity3>(const Vector& xi) {
  return Similarity3::Hat(xi);
}
#endif
template <>
struct traits<Similarity3> : public internal::MatrixLieGroup<Similarity3, 4> {};
 
template <>
struct traits<const Similarity3> : public internal::MatrixLieGroup<Similarity3, 4> {};
 
}  // namespace gtsam