Detailed Description

A 2D pose (Point2,Rot2).

Inheritance diagram for Pose2:

Advanced Interface
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Pose2 &p)
	Output stream operator.
static std::pair< size_t, size_t >	translationInterval ()
	Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.
static std::pair< size_t, size_t >	rotationInterval ()
	Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization.

Standard Constructors
	Pose2 ()
	default constructor = origin
	Pose2 (const Pose2 &pose)
	copy constructor
	Pose2 (double x, double y, double theta)
	construct from (x,y,theta)
	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).
static boost::optional< Pose2 >	Align (const Point2Pairs &abPointPairs)
	Create Pose2 by aligning two point pairs A pose aTb is estimated between pairs (a_point, b_point) such that a_point = aTb * b_point Note this allows for noise on the points but in that case the mapping will not be exact.
static boost::optional< Pose2 >	Align (const Matrix &a, const Matrix &b)

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

Group Action on Point2
Point2	operator* (const Point2 &point) const
	syntactic sugar for transformFrom
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.
Matrix	transformTo (const Matrix &points) const
	transform many points in world coordinates and transform to Pose.
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.
Matrix	transformFrom (const Matrix &points) const
	transform many points in Pose coordinates and transform to world.

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):
static GTSAM_EXPORT Matrix3	ExpmapDerivative (const Vector3 &v)
	Derivative of Expmap.
static GTSAM_EXPORT Matrix3	LogmapDerivative (const Pose2 &v)
	Derivative of Logmap.

Standard Interface
double	x () const
	get x
double	y () const
	get y
double	theta () const
	get theta
const Point2 &	t () const
	translation
const Rot2 &	r () const
	rotation
const Point2 &	translation () const
	translation
const Rot2 &	rotation () 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.
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.
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.
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.

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

Additional Inherited Members
Public Member Functions inherited from gtsam::LieGroup< Pose2, 3 >
SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
GTSAM_EXPORT SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
GTSAM_EXPORT SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
const Pose2 &	derived () 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
TangentVector	logmap (const Pose2 &g) const
	logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
Pose2	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this
TangentVector	localCoordinates (const Pose2 &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g
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 TangentVector	LocalCoordinates (const Pose2 &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity.

Constructor & Destructor Documentation

◆ Pose2()

gtsam::Pose2::Pose2	(	double	x,
		double	y,
		double	theta )

inline

construct from (x,y,theta)

Parameters

x	x coordinate
y	y coordinate
theta	angle 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

point 2D 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

point SO(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

point 2D 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

point 2D location of other pose

Returns: range (double)

◆ rotationInterval()

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

◆ transformFrom()

Matrix gtsam::Pose2::transformFrom ( const Matrix & points ) const

transform many points in Pose coordinates and transform to world.

Parameters

points 2*N matrix in Pose coordinates

Returns: points in world coordinates, as 2*N Matrix

◆ transformTo()

Matrix gtsam::Pose2::transformTo ( const Matrix & points ) const

transform many points in world coordinates and transform to Pose.

Parameters

points 2*N matrix in world coordinates

Returns: points in Pose coordinates, as 2*N Matrix

◆ translationInterval()

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()

Matrix3 gtsam::Pose2::wedge	(	double	vx,
		double	vy,
		double	w )

inlinestatic

wedge for SE(2):

Parameters

xi	3-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:

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/Pose2.h
/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/Pose2.cpp

Detailed Description

Advanced Interface

Standard Constructors

Advanced Constructors

Testable

Group

Group Action on Point2

Lie Group

Standard Interface

Public Types

Classes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ Pose2()

Member Function Documentation

◆ bearing() [1/2]

◆ bearing() [2/2]

◆ range() [1/2]

◆ range() [2/2]

◆ rotationInterval()

◆ transformFrom()

◆ transformTo()

◆ translationInterval()

◆ wedge()