gtsam::OrientedPlane3 Class Reference

Detailed Description

Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin.

Currently it provides a transform of the plane, and a norm 1 differencing of two planes. Refer to Trevor12iros for more math details.

Public Member Functions
OrientedPlane3	transform (const Pose3 &xr, OptionalJacobian< 3, 3 > Hp=boost::none, OptionalJacobian< 3, 6 > Hr=boost::none) const
	Transforms a plane to the specified pose. More...
Vector3	errorVector (const OrientedPlane3 &other, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Computes the error between the two planes, with derivatives. More...
size_t	dim () const
	Dimensionality of tangent space = 3 DOF.
OrientedPlane3	retract (const Vector3 &v, OptionalJacobian< 3, 3 > H=boost::none) const
	The retract function.
Vector3	localCoordinates (const OrientedPlane3 &s) const
	The local coordinates function.
Vector4	planeCoefficients () const
	Returns the plane coefficients.
Unit3	normal () const
	Return the normal.
double	distance () const
	Return the perpendicular distance to the origin.
Constructors
	OrientedPlane3 ()
	Default constructor.
	OrientedPlane3 (const Unit3 &n, double d)
	Construct from a Unit3 and a distance.
	OrientedPlane3 (const Vector4 &vec)
	Construct from a vector of plane coefficients.
	OrientedPlane3 (double a, double b, double c, double d)
	Construct from four numbers of plane coeffcients (a, b, c, d)
Testable
void	print (const std::string &s=std::string()) const
	The print function.
bool	equals (const OrientedPlane3 &s, double tol=1e-9) const
	The equals function with tolerance.

Static Public Member Functions
static size_t	Dim ()
	Dimensionality of tangent space = 3 DOF.

Public Types
enum	{ dimension = 3 }

Member Function Documentation

errorVector()

Vector3 gtsam::OrientedPlane3::errorVector	(	const OrientedPlane3 &	other,
		OptionalJacobian< 3, 3 >	H1 = boost::none,
		OptionalJacobian< 3, 3 >	H2 = boost::none
	)		const

Computes the error between the two planes, with derivatives.

This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses Unit3::localCoordinates. This one has correct derivatives. NOTE(hayk): The derivatives are zero when normals are exactly orthogonal.

Parameters

other

the other plane

transform()

OrientedPlane3 gtsam::OrientedPlane3::transform	(	const Pose3 &	xr,
		OptionalJacobian< 3, 3 >	Hp = boost::none,
		OptionalJacobian< 3, 6 >	Hr = boost::none
	)		const

Transforms a plane to the specified pose.

Parameters

xr	a transformation in current coordiante
Hp	optional Jacobian wrpt the destination plane
Hr	optional jacobian wrpt the pose transformation

Returns

the transformed plane

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The documentation for this class was generated from the following files:

• /Users/dellaert/git/github/gtsam/geometry/OrientedPlane3.h
• /Users/dellaert/git/github/gtsam/geometry/OrientedPlane3.cpp