A 3D pose (R,t) : (Rot3,Point3).
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| Pose3 () |
| | Default constructor is origin.
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| Pose3 (const Pose3 &pose)=default |
| | Copy constructor.
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Pose3 & | operator= (const Pose3 &other)=default |
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| Pose3 (const Base &other) |
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| Pose3 (const Rot3 &R, const Point3 &t) |
| | Construct from R,t.
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| | Pose3 (const Pose2 &pose2) |
| | Construct from Pose2.
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| Pose3 (const Matrix &T) |
| | Constructor from 4*4 matrix.
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static Pose3 | Create (const Rot3 &R, const Point3 &t, OptionalJacobian< 6, 3 > HR={}, OptionalJacobian< 6, 3 > Ht={}) |
| | Named constructor with derivatives.
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static Pose3 | FromPose2 (const Pose2 &p, OptionalJacobian< 6, 3 > H={}) |
| | Construct from Pose2 in the xy plane, with derivative.
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static std::optional< Pose3 > | Align (const Point3Pairs &abPointPairs) |
| | Create Pose3 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.
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static std::optional< Pose3 > | Align (ConstMatrixView a, ConstMatrixView b) |
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const Point3 & | translation (OptionalJacobian< 3, 6 > Hself={}) const |
| | get translation
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double | x () const |
| | get x
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double | y () const |
| | get y
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double | z () const |
| | get z
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| Pose3 | transformPoseFrom (const Pose3 &aTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HaTb={}) const |
| | Assuming self == wTa, takes a pose aTb in local coordinates and transforms it to world coordinates wTb = wTa * aTb.
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Pose3 | transformPoseTo (const Pose3 &wTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HwTb={}) const |
| | Assuming self == wTa, takes a pose wTb in world coordinates and transforms it to local coordinates aTb = inv(wTa) * wTb.
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| double | range (const Point3 &point, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 3 > Hpoint={}) const |
| | Calculate range to a landmark.
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| double | range (const Pose3 &pose, OptionalJacobian< 1, 6 > Hself={}, OptionalJacobian< 1, 6 > Hpose={}) const |
| | Calculate range to another pose.
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| Unit3 | bearing (const Point3 &point, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 3 > Hpoint={}) const |
| | Calculate bearing to a landmark.
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| Unit3 | bearing (const Pose3 &pose, OptionalJacobian< 2, 6 > Hself={}, OptionalJacobian< 2, 6 > Hpose={}) const |
| | Calculate bearing to another pose.
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| This | operator* (const This &other) const |
| | Group composition.
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| | ExtendedPose3 () |
| | Construct a fixed-size identity element.
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| | ExtendedPose3 (size_t k=0) |
| | Construct a dynamic-size identity element.
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| ExtendedPose3 (const ExtendedPose3 &)=default |
| | Copy constructor.
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ExtendedPose3 & | operator= (const ExtendedPose3 &)=default |
| | Copy assignment.
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| | ExtendedPose3 (const Rot3 &R, const Matrix3K &x) |
| | Construct from rotation and 3xk block.
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| | ExtendedPose3 (const Rot3 &R, const Vecs &... xs) |
| | Construct a fixed-size state from rotation and K 3-vectors.
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| | ExtendedPose3 (const MatrixRep &T) |
| | Construct from homogeneous matrix representation.
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| void | print (const std::string &s="") const |
| | Print this state.
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| bool | equals (const ExtendedPose3 &other, double tol=1e-9) const |
| | Equality check with tolerance.
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| size_t | k () const |
| size_t | dim () const |
| const Rot3 & | rotation (ComponentJacobian H={}) const |
| | Rotation component.
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| Point3 | x (size_t i, ComponentJacobian H={}) const |
| | i-th R^3 component, returned by value.
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| const Matrix3K & | xMatrix () const |
| | Access all x_i blocks.
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| Matrix3K & | xMatrix () |
| | Mutable access to all x_i blocks.
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| This | inverse () const |
| | Group inverse.
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| This | operator* (const This &other) const |
| | Group composition.
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| Jacobian | AdjointMap () const |
| | Adjoint map.
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| MatrixRep | matrix () const |
| | Homogeneous matrix representation.
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std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| | Provided fixed dimension in dim() if needed.
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| 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.
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| Jacobian | AdjointMap () const |
| | A generic implementation of AdjointMap for matrix Lie groups.
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| TangentVector | Adjoint (const TangentVector &xi, ChartJacobian H_this={}, ChartJacobian H_xi={}) const |
| | Adjoint action on a tangent vector.
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| TangentVector | AdjointTranspose (const TangentVector &x, ChartJacobian H_this={}, ChartJacobian H_x={}) const |
| | Dual Adjoint action on a tangent covector.
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std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| | Provided fixed dimension in dim() if needed.
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const Class & | derived () const |
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Class | compose (const Class &g) const |
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Class | between (const Class &g) const |
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Class | compose (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
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Class | between (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
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Class | inverse (ChartJacobian H) const |
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Class | expmap (const TangentVector &v) const |
| | expmap as required by manifold concept Applies exponential map to v and composes with *this
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TangentVector | logmap (const Class &g) const |
| | logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
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Class | expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| | expmap with optional derivatives, when the class provides them
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TangentVector | logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| | logmap with optional derivatives, when the class provides them
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Class | retract (const TangentVector &v) const |
| | retract as required by manifold concept: applies v at *this
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TangentVector | localCoordinates (const Class &g) const |
| | localCoordinates as required by manifold concept: finds tangent vector between *this and g
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Class | retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| | retract with optional derivatives, when the chart provides them
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TangentVector | localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| | localCoordinates with optional derivatives, when the chart provides them
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SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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using | Base = ExtendedPose3<1, Pose3> |
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typedef Rot3 | Rotation |
| | Pose Concept requirements.
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typedef Point3 | Translation |
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using | Vector16 = Eigen::Matrix<double, 16, 1> |
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using | This |
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using | Base |
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using | TangentVector |
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using | Jacobian |
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using | ChartJacobian |
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using | ComponentJacobian |
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using | MatrixRep |
| | Homogeneous matrix representation in the group.
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using | LieAlgebra |
| | Lie algebra matrix type used by Hat/Vee.
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using | Matrix3K |
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using | Base = LieGroup<Class, D> |
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using | ChartJacobian = typename Base::ChartJacobian |
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using | Jacobian = typename Base::Jacobian |
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using | TangentVector = typename Base::TangentVector |
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using | Vectorized = Eigen::Matrix<double, internal::product(N, N), 1> |
| using | VectorizedJacobian |
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typedef OptionalJacobian< N, N > | ChartJacobian |
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typedef Eigen::Matrix< double, N, N > | Jacobian |
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typedef Eigen::Matrix< double, N, 1 > | TangentVector |
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| static size_t | Dimension (size_t k) |
| | Runtime manifold dimension helper.
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| static This | Identity () |
| | Identity element for fixed-size K.
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| static This | Identity (size_t k=0) |
| | Identity element for dynamic-size K.
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| static This | Expmap (const TangentVector &xi, ChartJacobian Hxi={}) |
| | Exponential map from tangent to group.
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| static TangentVector | Logmap (const This &pose, ChartJacobian Hpose={}) |
| | Logarithm map from group to tangent.
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| static Jacobian | adjointMap (const TangentVector &xi) |
| | Lie algebra adjoint map.
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| static Jacobian | ExpmapDerivative (const TangentVector &xi) |
| | Jacobian of Expmap.
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| static Jacobian | LogmapDerivative (const TangentVector &xi) |
| | Jacobian of Logmap evaluated from tangent coordinates.
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| static Jacobian | LogmapDerivative (const This &pose) |
| | Jacobian of Logmap evaluated at a group element.
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| static LieAlgebra | Hat (const TangentVector &xi) |
| | Hat operator from tangent to Lie algebra.
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| static TangentVector | Vee (const LieAlgebra &X) |
| | Vee operator from Lie algebra to tangent.
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static constexpr int | Dim () |
| | Static method to get the dimension (compile-time or dynamic).
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static Jacobian | adjointMap (const TangentVector &xi) |
| | Lie algebra adjoint map ad_xi, with optional specialization in derived classes.
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static TangentVector | adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={}) |
| | Lie algebra action ad_xi(y), with optional Jacobians.
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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.
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static constexpr int | Dim () |
| | Static method to get the dimension (compile-time or dynamic).
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static Class | Retract (const TangentVector &v) |
| | Retract at origin: possible in Lie group because it has an identity.
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static TangentVector | LocalCoordinates (const Class &g) |
| | LocalCoordinates at origin: possible in Lie group because it has an identity.
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static Class | Retract (const TangentVector &v, ChartJacobian H) |
| | Retract at origin with optional derivative, when the chart provides it.
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static TangentVector | LocalCoordinates (const Class &g, ChartJacobian H) |
| | LocalCoordinates at origin with optional derivative, when provided.
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using | IsDynamic |
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using | IsFixed |
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static This | MakeReturn (const ExtendedPose3 &value) |
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static const ExtendedPose3 & | AsBase (const This &value) |
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static size_t | RuntimeK (const TangentVector &xi) |
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static void | ZeroJacobian (ChartJacobian H, Eigen::Index d) |
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Rot3 | R_ |
| | Rotation component.
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Matrix3K | t_ |
| | K translation-like columns in world frame.
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