gtsam  4.1.0
gtsam
gtsam::Pose2 Class Reference
+ Inheritance diagram for gtsam::Pose2:

Group

GTSAM_EXPORT Pose2 inverse () const
 inverse
 
Pose2 operator* (const Pose2 &p2) const
 compose syntactic sugar
 
static Pose2 identity ()
 identity for group operation
 

Lie Group

GTSAM_EXPORT 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 GTSAM_EXPORT 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 GTSAM_EXPORT 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 GTSAM_EXPORT 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 GTSAM_EXPORT Matrix3 ExpmapDerivative (const Vector3 &v)
 Derivative of Expmap.
 
static GTSAM_EXPORT 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
GTSAM_EXPORT void print (const std::string &s="") const
 print with optional string
 
GTSAM_EXPORT bool equals (const Pose2 &pose, double tol=1e-9) const
 assert equality up to a tolerance
 
Group Action on Point2
GTSAM_EXPORT 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.
 
GTSAM_EXPORT 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 Point2t () const
 translation
 
const Rot2r () const
 rotation
 
const Point2translation () const
 translation
 
const Rot2rotation () const
 rotation
 
GTSAM_EXPORT Matrix3 matrix () const
 
GTSAM_EXPORT Rot2 bearing (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const
 Calculate bearing to a landmark. More...
 
GTSAM_EXPORT Rot2 bearing (const Pose2 &pose, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) const
 Calculate bearing to another pose. More...
 
GTSAM_EXPORT double range (const Point2 &point, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) const
 Calculate range to a landmark. More...
 
GTSAM_EXPORT 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 >
const Pose2derived () const
 
Pose2 compose (const Pose2 &g) const
 
Pose2 compose (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
 
SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
Pose2 between (const Pose2 &g) const
 
Pose2 between (const Pose2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
 
SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) 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
xx coordinate
yy coordinate
thetaangle 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
point2D 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
pointSO(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
point2D 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
point2D 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
xi3-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: