Point3.h File Reference

3D Point More...

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Classes
struct	gtsam::Range< Point3, Point3 >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
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.
typedef std::vector< Point3, Eigen::aligned_allocator< Point3 > >	gtsam::Point3Vector
using	gtsam::Point3Pair = std::pair<Point3, Point3>
using	gtsam::Point3Pairs = std::vector<Point3Pair>

Functions
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
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)
	mean
Point3Pair	gtsam::means (const std::vector< Point3Pair > &abPointPairs)
	Calculate the two means of a set of Point3 pairs.

Detailed Description

3D Point

Author

Alireza Fathi

Christian Potthast

Frank Dellaert