Detailed Description

Inheritance diagram for gtsam::Pose2:

Standard Constructors
	Pose2 ()
	default constructor = origin
	Pose2 (const Pose2 &pose)=default
	copy constructor
Pose2 &	operator= (const Pose2 &other)=default
	Pose2 (double x, double y, double theta)
	construct from (x,y,theta)
	Pose2 (double theta, const Point2 &t)
	construct from rotation and translation
	Pose2 (const Rot2 &r, const Point2 &t)
	construct from r,t
	Pose2 (const Matrix &T)
	Constructor from 3*3 matrix.

Testable
void	print (const std::string &s="") const
	print with optional string
bool	equals (const Pose2 &pose, double tol=1e-9) const
	assert equality up to a tolerance

Group
Pose2	inverse () const
	inverse
Pose2	operator* (const Pose2 &p2) const
	compose syntactic sugar
static Pose2	Identity ()
	identity for group operation

Lie Group
Matrix3	AdjointMap () const
	Calculate Adjoint map Ad_pose is 3*3 matrix that when applied to twist xi \( [T_x,T_y,\theta] \), returns Ad_pose(xi).
static Pose2	Expmap (const Vector3 &xi, ChartJacobian H={})
	Exponential map at identity - create a rotation from canonical coordinates \( [T_x,T_y,\theta] \).
static Vector3	Logmap (const Pose2 &p, ChartJacobian H={})
	Log map at identity - return the canonical coordinates \( [T_x,T_y,\theta] \) of this rotation.
static Matrix3	adjointMap (const Vector3 &v)
	Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19.
static Matrix3	adjointMap_ (const Vector3 &xi)
static Vector3	adjoint_ (const Vector3 &xi, const Vector3 &y)
static Matrix3	ExpmapDerivative (const Vector3 &v)
	Derivative of Expmap.
static Matrix3	LogmapDerivative (const Pose2 &pose)
	Inverse right Jacobian of the exponential map evaluated at a pose.
static Matrix3	LogmapDerivative (const Vector3 &xi)
	Inverse right Jacobian of the exponential map evaluated at tangent coordinates xi = (dx, dy, dtheta).
static Matrix3	Hat (const Vector3 &xi)
	Hat maps from tangent vector to Lie algebra.
static Vector3	Vee (const Matrix3 &X)
	Vee maps from Lie algebra to tangent vector.

Group Action on Point2
Point2	transformTo (const Point2 &point, OptionalJacobian< 2, 3 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
	Return point coordinates in pose coordinate frame.
Matrix	transformTo (ConstMatrixView points) const
	transform many points in world coordinates and transform to Pose.
Point2	transformFrom (const Point2 &point, OptionalJacobian< 2, 3 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
	Return point coordinates in global frame.
Matrix	transformFrom (ConstMatrixView points) const
	transform many points in Pose coordinates and transform to world.
Point2	operator* (const Point2 &point) const
	syntactic sugar for transformFrom

Standard Interface
double	x () const
	get x
double	y () const
	get y
double	theta () const
	get theta
const Point2 &	t () const
	translation
const Rot2 &	r () const
	rotation
const Point2 &	translation (OptionalJacobian< 2, 3 > Hself={}) const
	translation
const Rot2 &	rotation (OptionalJacobian< 1, 3 > Hself={}) const
	rotation
Matrix3	matrix () const
	return transformation matrix
Vector9	vec (OptionalJacobian< 9, 3 > H={}) const
	Vectorize the rotation matrix into a 9D vector.
Rot2	bearing (const Point2 &point, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 2 > H2={}) const
	Calculate bearing to a landmark.
Rot2	bearing (const Pose2 &pose, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 3 > H2={}) const
	Calculate bearing to another pose.
double	range (const Point2 &point, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 2 > H2={}) const
	Calculate range to a landmark.
double	range (const Pose2 &point, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 3 > H2={}) const
	Calculate range to another pose.

Advanced Constructors
static std::optional< Pose2 >	Align (const Point2Pairs &abPointPairs)
	Create Pose2 by aligning two point pairs A pose aTb is estimated between pairs (a_point, b_point) such that a_point = aTb * b_point Note this allows for noise on the points but in that case the mapping will not be exact.
static std::optional< Pose2 >	Align (ConstMatrixView a, ConstMatrixView b)

Advanced Interface
static std::pair< size_t, size_t >	translationInterval ()
	Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.
static std::pair< size_t, size_t >	rotationInterval ()
	Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization.
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Pose2 &p)
	Output stream operator.

Public Types
using	Rotation = Rot2
	Pose Concept requirements.
using	Translation = Point2
using	LieAlgebra = Matrix3
	LieGroup Concept requirements.
Public Types inherited from gtsam::MatrixLieGroup< Pose2, 3, 3 >
using	Base
using	ChartJacobian
using	Jacobian
using	TangentVector
using	Vectorized
using	VectorizedJacobian
Public Types inherited from gtsam::LieGroup< Pose2, D >
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian
typedef Eigen::Matrix< double, N, 1 >	TangentVector

Classes
struct	ChartAtOrigin

Additional Inherited Members
Public Member Functions inherited from gtsam::MatrixLieGroup< Pose2, 3, 3 >
std::enable_if_t< M !=Eigen::Dynamic, int >	dim () const
	Provided fixed dimension in dim() if needed.
Eigen::Matrix< double, internal::product(N, N), 1 >	vec (OptionalJacobian< internal::product(N, N), D > H={}) const
	Vectorize the matrix representation of a Lie group element.
Jacobian	AdjointMap () const
	A generic implementation of AdjointMap for matrix Lie groups.
TangentVector	Adjoint (const TangentVector &xi, ChartJacobian H_this={}, ChartJacobian H_xi={}) const
	Adjoint action on a tangent vector.
TangentVector	AdjointTranspose (const TangentVector &x, ChartJacobian H_this={}, ChartJacobian H_x={}) const
	Dual Adjoint action on a tangent covector.
Public Member Functions inherited from gtsam::LieGroup< Pose2, D >
SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
GTSAM_EXPORT SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
GTSAM_EXPORT SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
std::enable_if_t< M !=Eigen::Dynamic, int >	dim () const
	Provided fixed dimension in dim() if needed.
const Pose2 &	derived () const
Pose2	inverse (ChartJacobian H) const
Pose2	expmap (const TangentVector &v) const
	expmap as required by manifold concept Applies exponential map to v and composes with *this
TangentVector	logmap (const Pose2 &g) const
	logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
Pose2	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this
TangentVector	localCoordinates (const Pose2 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g
Static Public Member Functions inherited from gtsam::MatrixLieGroup< Pose2, 3, 3 >
static constexpr int	Dim ()
	Static method to get the dimension (compile-time or dynamic).
static Jacobian	adjointMap (const TangentVector &xi)
	Lie algebra adjoint map ad_xi, with optional specialization in derived classes.
static TangentVector	adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
	Lie algebra action ad_xi(y), with optional Jacobians.
static TangentVector	adjointTranspose (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
	Dual Lie algebra action ad_xi^T(y), with optional Jacobians.
Static Public Member Functions inherited from gtsam::LieGroup< Pose2, D >
static constexpr int	Dim ()
	Static method to get the dimension (compile-time or dynamic).
static Pose2	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity.
static TangentVector	LocalCoordinates (const Pose2 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity.
Static Public Attributes inherited from gtsam::MatrixLieGroup< Pose2, 3, 3 >
static constexpr auto	dimension
Static Public Attributes inherited from gtsam::LieGroup< Pose2, D >
static constexpr auto	dimension

Constructor & Destructor Documentation

◆ Pose2()

gtsam::Pose2::Pose2	(	double	x,
		double	y,
		double	theta )

inline

construct from (x,y,theta)

Parameters

x	x coordinate
y	y coordinate
theta	angle with positive X-axis

Member Function Documentation

◆ bearing() [1/2]

Rot2 gtsam::Pose2::bearing	(	const Point2 &	point,
		OptionalJacobian< 1, 3 >	H1 = {},
		OptionalJacobian< 1, 2 >	H2 = {} ) const

Calculate bearing to a landmark.

Parameters

point 2D location of landmark

Returns: 2D rotation \( \in SO(2) \)

◆ bearing() [2/2]

Rot2 gtsam::Pose2::bearing	(	const Pose2 &	pose,
		OptionalJacobian< 1, 3 >	H1 = {},
		OptionalJacobian< 1, 3 >	H2 = {} ) const

Calculate bearing to another pose.

Parameters

point SO(2) location of other pose

Returns: 2D rotation \( \in SO(2) \)

◆ LogmapDerivative() [1/2]

Matrix3 gtsam::Pose2::LogmapDerivative ( const Pose2 & pose )

static

Inverse right Jacobian of the exponential map evaluated at a pose.

Parameters

pose	Pose whose tangent coordinates determine the evaluation point.

Returns: The 3-by-3 inverse right Jacobian at Logmap(pose).

◆ LogmapDerivative() [2/2]

Matrix3 gtsam::Pose2::LogmapDerivative ( const Vector3 & xi )

static

Inverse right Jacobian of the exponential map evaluated at tangent coordinates xi = (dx, dy, dtheta).

Parameters

xi	Tangent coordinates at which to evaluate the Jacobian.

Returns: The 3-by-3 inverse right Jacobian at xi.

◆ range() [1/2]

double gtsam::Pose2::range	(	const Point2 &	point,
		OptionalJacobian< 1, 3 >	H1 = {},
		OptionalJacobian< 1, 2 >	H2 = {} ) const

Calculate range to a landmark.

Parameters

point 2D location of landmark

Returns: range (double)

◆ range() [2/2]

double gtsam::Pose2::range	(	const Pose2 &	point,
		OptionalJacobian< 1, 3 >	H1 = {},
		OptionalJacobian< 1, 3 >	H2 = {} ) const

Calculate range to another pose.

Parameters

point 2D location of other pose

Returns: range (double)

◆ rotationInterval()

std::pair< size_t, size_t > gtsam::Pose2::rotationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization.

Returns: a pair of [start, end] indices into the tangent space vector

◆ transformFrom()

Matrix gtsam::Pose2::transformFrom ( ConstMatrixView points ) const

transform many points in Pose coordinates and transform to world.

Parameters

points 2*N matrix in Pose coordinates

Returns: points in world coordinates, as 2*N Matrix

◆ transformTo()

Matrix gtsam::Pose2::transformTo ( ConstMatrixView points ) const

transform many points in world coordinates and transform to Pose.

Parameters

points 2*N matrix in world coordinates

Returns: points in Pose coordinates, as 2*N Matrix

◆ translationInterval()

std::pair< size_t, size_t > gtsam::Pose2::translationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.

Returns: a pair of [start, end] indices into the tangent space vector

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Pose2.h
/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Pose2.cpp

Detailed Description

Standard Constructors

Testable

Group

Lie Group

Group Action on Point2

Standard Interface

Advanced Constructors

Advanced Interface

Public Types

Classes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Pose2()

Member Function Documentation

◆ bearing() [1/2]

◆ bearing() [2/2]

◆ LogmapDerivative() [1/2]

◆ LogmapDerivative() [2/2]

◆ range() [1/2]

◆ range() [2/2]

◆ rotationInterval()

◆ transformFrom()

◆ transformTo()

◆ translationInterval()