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gtsam::traits< Pose2 > Struct Reference
Detailed Description
Add the Pose2-specific operations used by the generic QCQP conversion code.
template <> struct traits<Pose2> specializes GTSAM's generic traits<T> interface for T=Pose2. The static methods can therefore be called as traits<Pose2>::QcqpValue<1>(pose) without constructing a traits object.
Each method is itself a template on D, the QCQP variable's column count. if constexpr (D == 1) selects this exact homogenized vector formulation at compile time. The lift discards the fixed last row [0, 0, 1] of the Pose2 matrix and stores the remaining entries column by column:
x = [1, r00, r10, r01, r11, tx, ty]'.
Eigen's segment<2>(start) selects two consecutive entries of x, while T.col(column).head<2>() selects the first two entries of one matrix column. QcqpConstraints returns the symmetric matrices A and scalars b for the five equations x' A x = b. Their translation rows and columns are zero, so these equations constrain only the embedded SO(2) rotation.
Inheritance diagram for gtsam::traits< Pose2 >:
Static Public Member Functions | |
| template<int D = 1> | |
| static Matrix | QcqpValue (const Pose2 &value) |
| Return the D=1 homogenized QCQP variable x = [1, r00, r10, r01, r11, tx, ty]. | |
| template<int D = 1> | |
| static std::vector< std::pair< Matrix, double > > | QcqpConstraints () |
| Return the five D=1 lifted SE(2) manifold constraints A, b such that trace(x' A x) = b. | |
| template<int D> | |
| static Pose2 | FromQcqpValue (const Matrix &X) |
| Project a D=1 homogenized QCQP vector back to Pose2. | |
| Static Public Member Functions inherited from gtsam::internal::MatrixLieGroupTraits< Pose2, N > | |
| static LieAlgebra | Hat (const TangentVector &v) |
| static TangentVector | Vee (const LieAlgebra &X) |
| static Eigen::Matrix< double, product(N, N), 1 > | Vec (const Pose2 &m, OptionalJacobian< product(N, N), LieGroupTraits< Pose2 >::dimension > H={}) |
| Vectorize the matrix representation of a Lie group element. | |
| static TangentVector | AdjointTranspose (const Pose2 &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={}) |
| static TangentVector | Adjoint (const Pose2 &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={}) |
| static Jacobian | adjointMap (const TangentVector &xi) |
| static TangentVector | adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={}) |
| static TangentVector | adjointTranspose (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={}) |
| Static Public Member Functions inherited from gtsam::internal::LieGroupTraits< Pose2 > | |
| static TangentVector | Logmap (const Pose2 &m) |
| static Pose2 | Expmap (const TangentVector &v) |
| static Pose2 | Compose (const Pose2 &m1, const Pose2 &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
| static Pose2 | Between (const Pose2 &m1, const Pose2 &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
| static Pose2 | Inverse (const Pose2 &m, ChartJacobian H={}) |
| static Eigen::Matrix< double, dimension, dimension > | AdjointMap (const Pose2 &m) |
| static Pose2 | Identity () |
| Static Public Member Functions inherited from gtsam::internal::ManifoldTraits< Pose2 > | |
| static TangentVector | Local (const Pose2 &origin, const Pose2 &other) |
| static Pose2 | Retract (const Pose2 &origin, const TangentVector &v) |
| Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Pose2, Pose2::dimension > | |
| static size_t | GetDimension (const Pose2 &m) |
| Static Public Member Functions inherited from gtsam::Testable< Pose2 > | |
| static void | Print (const Pose2 &m, const std::string &str="") |
| static bool | Equals (const Pose2 &m1, const Pose2 &m2, double tol=1e-8) |
Static Public Attributes | |
| static constexpr int | QcqpVectorDim = 7 |
| Dimension of the D=1 homogenized QCQP vector. | |
| static constexpr auto | dimension |
| Static Public Attributes inherited from gtsam::internal::ManifoldTraits< Pose2 > | |
| static constexpr auto | dimension |
Additional Inherited Members | |
| Public Member Functions inherited from gtsam::internal::ManifoldTraits< Pose2 > | |
| GTSAM_CONCEPT_ASSERT (HasManifoldPrereqs< Pose2 >) | |
| Public Member Functions inherited from gtsam::Testable< Pose2 > | |
| GTSAM_CONCEPT_ASSERT (HasTestablePrereqs< Pose2 >) | |
| Public Types inherited from gtsam::internal::MatrixLieGroupTraits< Pose2, N > | |
| using | LieAlgebra |
| using | TangentVector |
| using | Jacobian |
| using | ChartJacobian |
| Public Types inherited from gtsam::internal::LieGroupTraits< Pose2 > | |
| typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
| typedef Pose2 | ManifoldType |
| typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
| using | Manifold |
| using | structure_category |
| using | group_flavor |
| using | Jacobian |
| Public Types inherited from gtsam::internal::ManifoldTraits< Pose2 > | |
| typedef Pose2 | ManifoldType |
| typedef manifold_tag | structure_category |
| typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
| typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
The documentation for this struct was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Pose2.h
