34 GTSAM_EXPORT Line3
transformTo(
const Pose3 &wTc,
const Line3 &wL,
35 OptionalJacobian<4, 6> Dpose = {},
36 OptionalJacobian<4, 4> Dline = {});
50 enum { dimension = 4 };
57 Line3(
const Rot3 &R,
const double a,
const double b) :
58 R_(R), a_(a), b_(b) {}
71 Line3 retract(
const Vector4 &v,
84 Vector4 localCoordinates(
const Line3 &q,
92 void print(
const std::string &s =
"")
const;
100 bool equals(
const Line3 &l2,
double tol = 10e-9)
const;
118 Point3 point(
double distance = 0)
const;
130 inline double a()
const {
137 inline double b()
const {
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
Point2_ project(const Point3_ &p_cam)
Expression version of PinholeBase::Project.
Definition: expressions.h:131
Line3()
Definition: Line3.h:53
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
Rot3 R() const
Definition: Line3.h:123
GTSAM_EXPORT Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose={}, OptionalJacobian< 4, 4 > Dline={})
double a() const
Definition: Line3.h:130
Represents a 3D point on a unit sphere.
Definition: Unit3.h:42
Definition: Testable.h:112
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
double b() const
Definition: Line3.h:137
Definition: chartTesting.h:28
Definition: OptionalJacobian.h:38
Line3(const Rot3 &R, const double a, const double b)
Definition: Line3.h:57
Vector3 Point3
Definition: Point3.h:38
3D rotation represented as a rotation matrix or quaternion