Inheritance diagram for gtsam::Pose2:

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)

Vector3	Adjoint (const Vector3 &xi) const
	Apply AdjointMap to twist xi.

static Pose2	Expmap (const Vector3 &xi, ChartJacobian H=boost::none)
	Exponential map at identity - create a rotation from canonical coordinates \( [T_x,T_y,\theta] \).

static Vector3	Logmap (const Pose2 &p, ChartJacobian H=boost::none)
	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 Vector3	adjoint (const Vector3 &xi, const Vector3 &y)
	Action of the adjointMap on a Lie-algebra vector y, with optional derivatives.

static Vector3	adjointTranspose (const Vector3 &xi, const Vector3 &y)
	The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.

static Matrix3	adjointMap_ (const Vector3 &xi)

static Vector3	adjoint_ (const Vector3 &xi, const Vector3 &y)

static Matrix3	wedge (double vx, double vy, double w)
	wedge for SE(2): More...

static Matrix3	ExpmapDerivative (const Vector3 &v)
	Derivative of Expmap.

static Matrix3	LogmapDerivative (const Pose2 &v)
	Derivative of Logmap.

Public Member Functions
Standard Constructors
	Pose2 ()
	default constructor = origin

	Pose2 (const Pose2 &pose)
	copy constructor

	Pose2 (double x, double y, double theta)
	construct from (x,y,theta) More...

	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.

Advanced Constructors
	Pose2 (const Vector &v)
	Construct from canonical coordinates \( [T_x,T_y,\theta] \) (Lie algebra)

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 Action on Point2
Point2	transformTo (const Point2 &point, OptionalJacobian< 2, 3 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	Return point coordinates in pose coordinate frame.

Point2	transformFrom (const Point2 &point, OptionalJacobian< 2, 3 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	Return point coordinates in global frame.

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 () const
	translation

const Rot2 &	rotation () const
	rotation

Matrix3	matrix () const

Rot2	bearing (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const
	Calculate bearing to a landmark. More...

Rot2	bearing (const Pose2 &pose, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) const
	Calculate bearing to another pose. More...

double	range (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const
	Calculate range to a landmark. More...

double	range (const Pose2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) const
	Calculate range to another pose. More...

Public Member Functions inherited from gtsam::LieGroup< Pose2, 3 >
	BOOST_STATIC_ASSERT_MSG (N !=Eigen::Dynamic, "LieGroup not yet specialized for dynamically sized types.")

const Pose2 &	derived () const

Pose2	compose (const Pose2 &g) const

Pose2	compose (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

Pose2	between (const Pose2 &g) const

Pose2	between (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) 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

Pose2	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	expmap with optional derivatives

TangentVector	logmap (const Pose2 &g) const
	logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g

TangentVector	logmap (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	logmap with optional derivatives

Pose2	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this

Pose2	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	retract with optional derivatives

TangentVector	localCoordinates (const Pose2 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g

TangentVector	localCoordinates (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	localCoordinates with optional derivatives

Static Public Member Functions
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. More...

static std::pair< size_t, size_t >	rotationInterval ()
	Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization. More...

Static Public Member Functions inherited from gtsam::LieGroup< Pose2, 3 >
static Pose2	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity.

static Pose2	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative.

static TangentVector	LocalCoordinates (const Pose2 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity.

static TangentVector	LocalCoordinates (const Pose2 &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative.

Public Types
typedef Rot2	Rotation
	Pose Concept requirements.

typedef Point2	Translation

Public Types inherited from gtsam::LieGroup< Pose2, 3 >
enum

typedef OptionalJacobian< N, N >	ChartJacobian

typedef Eigen::Matrix< double, N, N >	Jacobian

typedef Eigen::Matrix< double, N, 1 >	TangentVector

Classes
struct	ChartAtOrigin

Friends
class	boost::serialization::access

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 = `boost::none`,
		OptionalJacobian< 1, 2 >	H2 = `boost::none`
	)		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 = `boost::none`,
		OptionalJacobian< 1, 3 >	H2 = `boost::none`
	)		const

Calculate bearing to another pose.

Parameters

point SO(2) location of other pose

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

◆ range() [1/2]

double gtsam::Pose2::range	(	const Point2 &	point,
		OptionalJacobian< 1, 3 >	H1 = `boost::none`,
		OptionalJacobian< 1, 2 >	H2 = `boost::none`
	)		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 = `boost::none`,
		OptionalJacobian< 1, 3 >	H2 = `boost::none`
	)		const

Calculate range to another pose.

Parameters

point 2D location of other pose

Returns: range (double)

◆ rotationInterval()

static 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

◆ translationInterval()

static 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

◆ wedge()

static Matrix3 gtsam::Pose2::wedge	(	double	vx,
		double	vy,
		double	w
	)

inlinestatic

wedge for SE(2):

Parameters

xi	3-dim twist (v,omega) where omega is angular velocity v (vx,vy) = 2D velocity

Returns: xihat, 3*3 element of Lie algebra that can be exponentiated

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

/Users/dellaert/git/gtsam/gtsam/geometry/Pose2.h
/Users/dellaert/git/gtsam/gtsam/geometry/Pose2.cpp

Group

Lie Group

Public Member Functions

Static Public Member Functions

Public Types

Classes

Friends

Constructor & Destructor Documentation

◆ Pose2()

Member Function Documentation

◆ bearing() [1/2]

◆ bearing() [2/2]

◆ range() [1/2]

◆ range() [2/2]

◆ rotationInterval()

◆ translationInterval()

◆ wedge()