|
gtsam 4.1.1
gtsam
|
Inheritance diagram for gtsam::Rot2:Standard Interface | |
| class | boost::serialization::access |
| Serialization function. | |
| Point2 | unit () const |
| Creates a unit vector as a Point2. | |
| double | theta () const |
| return angle (RADIANS) | |
| double | degrees () const |
| return angle (DEGREES) | |
| double | c () const |
| return cos | |
| double | s () const |
| return sin | |
| Matrix2 | matrix () const |
| return 2*2 rotation matrix | |
| Matrix2 | transpose () const |
| return 2*2 transpose (inverse) rotation matrix | |
Constructors and named constructors | |
| Rot2 () | |
| default constructor, zero rotation | |
| Rot2 (const Rot2 &r) | |
| copy constructor | |
| Rot2 (double theta) | |
| Constructor from angle in radians == exponential map at identity. | |
| static Rot2 | fromAngle (double theta) |
| Named constructor from angle in radians. | |
| static Rot2 | fromDegrees (double theta) |
| Named constructor from angle in degrees. | |
| static Rot2 | fromCosSin (double c, double s) |
| Named constructor from cos(theta),sin(theta) pair, will not normalize! | |
| static Rot2 | relativeBearing (const Point2 &d, OptionalJacobian< 1, 2 > H=boost::none) |
| Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame. More... | |
| static Rot2 | atan2 (double y, double x) |
| Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes. | |
| static Rot2 | Random (std::mt19937 &rng) |
| Random, generates random angle \in [-p,pi] Example: std::mt19937 engine(42); Unit3 unit = Unit3::Random(engine);. | |
Group | |
| Rot2 | inverse () const |
| The inverse rotation - negative angle. | |
| Rot2 | operator* (const Rot2 &R) const |
| Compose - make a new rotation by adding angles. | |
| static Rot2 | identity () |
| identity | |
Lie Group | |
| Matrix1 | AdjointMap () const |
| Calculate Adjoint map. | |
| static Rot2 | Expmap (const Vector1 &v, ChartJacobian H=boost::none) |
| Exponential map at identity - create a rotation from canonical coordinates. | |
| static Vector1 | Logmap (const Rot2 &r, ChartJacobian H=boost::none) |
| Log map at identity - return the canonical coordinates of this rotation. | |
| static Matrix | ExpmapDerivative (const Vector &) |
| Left-trivialized derivative of the exponential map. | |
| static Matrix | LogmapDerivative (const Vector &) |
| Left-trivialized derivative inverse of the exponential map. | |
Public Member Functions | |
Testable | |
| void | print (const std::string &s="theta") const |
| print | |
| bool | equals (const Rot2 &R, double tol=1e-9) const |
| equals with an tolerance | |
Group Action on Point2 | |
| Point2 | rotate (const Point2 &p, OptionalJacobian< 2, 1 > H1=boost::none, OptionalJacobian< 2, 2 > H2=boost::none) const |
| rotate point from rotated coordinate frame to world \( p^w = R_c^w p^c \) | |
| Point2 | operator* (const Point2 &p) const |
| syntactic sugar for rotate | |
| Point2 | unrotate (const Point2 &p, OptionalJacobian< 2, 1 > H1=boost::none, OptionalJacobian< 2, 2 > H2=boost::none) const |
| rotate point from world to rotated frame \( p^c = (R_c^w)^T p^w \) | |
| Public Member Functions inherited from gtsam::LieGroup< Rot2, 1 > | |
| const Rot2 & | derived () const |
| Rot2 | compose (const Rot2 &g) const |
| Rot2 | compose (const Rot2 &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 |
| Rot2 | between (const Rot2 &g) const |
| Rot2 | between (const Rot2 &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 |
| Rot2 | inverse (ChartJacobian H) const |
| Rot2 | expmap (const TangentVector &v) const |
| expmap as required by manifold concept Applies exponential map to v and composes with *this | |
| Rot2 | expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| expmap with optional derivatives | |
| TangentVector | logmap (const Rot2 &g) const |
| logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g | |
| TangentVector | logmap (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| logmap with optional derivatives | |
| Rot2 | retract (const TangentVector &v) const |
| retract as required by manifold concept: applies v at *this | |
| Rot2 | retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| retract with optional derivatives | |
| TangentVector | localCoordinates (const Rot2 &g) const |
| localCoordinates as required by manifold concept: finds tangent vector between *this and g | |
| TangentVector | localCoordinates (const Rot2 &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| localCoordinates with optional derivatives | |
Classes | |
| struct | ChartAtOrigin |
Additional Inherited Members | |
| Static Public Member Functions inherited from gtsam::LieGroup< Rot2, 1 > | |
| static Rot2 | Retract (const TangentVector &v) |
| Retract at origin: possible in Lie group because it has an identity. | |
| static Rot2 | Retract (const TangentVector &v, ChartJacobian H) |
| Retract at origin with optional derivative. | |
| static TangentVector | LocalCoordinates (const Rot2 &g) |
| LocalCoordinates at origin: possible in Lie group because it has an identity. | |
| static TangentVector | LocalCoordinates (const Rot2 &g, ChartJacobian H) |
| LocalCoordinates at origin with optional derivative. | |
| Public Types inherited from gtsam::LieGroup< Rot2, 1 > | |
| enum | |
| typedef OptionalJacobian< N, N > | ChartJacobian |
| typedef Eigen::Matrix< double, N, N > | Jacobian |
| typedef Eigen::Matrix< double, N, 1 > | TangentVector |
|
static |
Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame.
| d | 2D location of landmark |
| H | optional reference for Jacobian |
1.9.3 
