24#include <gtsam/config.h>
25#include <gtsam/base/VectorSpace.h>
27#include <gtsam/dllexport.h>
28#include <boost/serialization/nvp.hpp>
38using Point3Pair = std::pair<Point3, Point3>;
39GTSAM_EXPORT std::ostream &operator<<(std::ostream &os,
const gtsam::Point3Pair &p);
41using Point3Pairs = std::vector<Point3Pair>;
65template <
class CONTAINER>
67 if (points.size() == 0)
throw std::invalid_argument(
"Point3::mean input container is empty");
69 sum = std::accumulate(points.begin(), points.end(), sum);
70 return sum / points.size();
74GTSAM_EXPORT Point3Pair
means(
const std::vector<Point3Pair> &abPointPairs);
76template <
typename A1,
typename A2>
81 typedef double result_type;
typedef and functions to augment Eigen's VectorXd
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
Point3 mean(const CONTAINER &points)
mean
Definition: Point3.h:66
Point3Pair means(const std::vector< Point3Pair > &abPointPairs)
Calculate the two means of a set of Point3 pairs.
Definition: Point3.cpp:78
Point3 cross(const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2)
cross product
Definition: Point3.cpp:63
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1, OptionalJacobian< 1, 3 > H2)
distance between two points
Definition: Point3.cpp:26
Vector3 Point3
As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point3 to Vector3...
Definition: Point3.h:35
Point3 normalize(const Point3 &p, OptionalJacobian< 3, 3 > H)
normalize, with optional Jacobian
Definition: Point3.cpp:51
double norm3(const Point3 &p, OptionalJacobian< 1, 3 > H)
Distance of the point from the origin, with Jacobian.
Definition: Point3.cpp:40
double dot(const V1 &a, const V2 &b)
Dot product.
Definition: Vector.h:194
OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size o...
Definition: OptionalJacobian.h:39
Definition: BearingRange.h:39