gtsam 4.1.1
Point3.h File Reference

3D Point More...

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struct  gtsam::Range< Point3, Point3 >


namespace  gtsam
 Global functions in a separate testing namespace.


typedef Vector3 gtsam::Point3
 As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point3 to Vector3.
using gtsam::Point3Pair = std::pair< Point3, Point3 >
using gtsam::Point3Pairs = std::vector< Point3Pair >


ostream & gtsam::operator<< (ostream &os, const gtsam::Point3Pair &p)
double gtsam::distance3 (const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none)
 distance between two points
double gtsam::norm3 (const Point3 &p, OptionalJacobian< 1, 3 > H=boost::none)
 Distance of the point from the origin, with Jacobian.
Point3 gtsam::normalize (const Point3 &p, OptionalJacobian< 3, 3 > H=boost::none)
 normalize, with optional Jacobian
Point3 gtsam::cross (const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H_p=boost::none, OptionalJacobian< 3, 3 > H_q=boost::none)
 cross product More...
double gtsam::dot (const Point3 &p, const Point3 &q, OptionalJacobian< 1, 3 > H_p=boost::none, OptionalJacobian< 1, 3 > H_q=boost::none)
 dot product
template<class CONTAINER >
Point3 gtsam::mean (const CONTAINER &points)
Point3Pair gtsam::means (const std::vector< Point3Pair > &abPointPairs)
 Calculate the two means of a set of Point3 pairs.

Detailed Description

3D Point

Alireza Fathi
Christian Potthast
Frank Dellaert