14 #include <gtsam_unstable/dllexport.h> 27 static const size_t dimension = 4;
44 Pose3Upright(
double x,
double y,
double z,
double theta);
55 void print(
const std::string& s =
"")
const;
64 double x()
const {
return T_.
x(); }
65 double y()
const {
return T_.
y(); }
66 double z()
const {
return z_; }
67 double theta()
const {
return T_.
theta(); }
69 Point2 translation2()
const;
70 Point3 translation()
const;
71 Rot2 rotation2()
const;
72 Rot3 rotation()
const;
81 inline static size_t Dim() {
return dimension; }
84 inline size_t dim()
const {
return dimension; }
133 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION // 135 friend class boost::serialization::access;
136 template<
class Archive>
137 void serialize(Archive & ar,
const unsigned int ) {
138 ar & BOOST_SERIALIZATION_NVP(T_);
139 ar & BOOST_SERIALIZATION_NVP(z_);
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Pose3Upright()
Default constructor initializes at origin.
Definition: Pose3Upright.h:39
Vector2 Point2
Definition: Point2.h:32
Pose3Upright operator*(const Pose3Upright &T) const
compose syntactic sugar
Definition: Pose3Upright.h:109
static Pose3Upright Identity()
identity for group operation
Definition: Pose3Upright.h:98
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
double y() const
get y
Definition: Pose2.h:249
Definition: Testable.h:112
double theta() const
get theta
Definition: Pose2.h:252
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
size_t dim() const
Dimensionality of tangent space = 4 DOF.
Definition: Pose3Upright.h:84
static size_t Dim()
Dimensionality of tangent space = 4 DOF - used to autodetect sizes.
Definition: Pose3Upright.h:81
Pose3Upright(const Pose3Upright &x)
Copy constructor.
Definition: Pose3Upright.h:42
Definition: chartTesting.h:28
Definition: OptionalJacobian.h:38
Vector3 Point3
Definition: Point3.h:38
double x() const
get x
Definition: Pose2.h:246
Definition: Pose3Upright.h:25