Similarity3.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/dllexport.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h>

namespace gtsam {

// Forward declarations
class Pose3;

class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
  typedef Rot3 Rotation;
  typedef Point3 Translation;

 private:
  Rot3 R_;
  Point3 t_;
  double s_;

 public:

  Similarity3();

  Similarity3(double s);

  Similarity3(const Rot3& R, const Point3& t, double s);

  Similarity3(const Matrix3& R, const Vector3& t, double s);

  Similarity3(const Matrix4& T);


  bool equals(const Similarity3& sim, double tol) const;

  bool operator==(const Similarity3& other) const;

  void print(const std::string& s) const;

  friend std::ostream& operator<<(std::ostream& os, const Similarity3& p);


  static Similarity3 Identity();

  Similarity3 operator*(const Similarity3& S) const;

  Similarity3 inverse() const;


  Point3 transformFrom(const Point3& p,                          //
                       OptionalJacobian<3, 7> H1 = {},  //
                       OptionalJacobian<3, 3> H2 = {}) const;

  Pose3 transformFrom(const Pose3& T) const;

  Point3 operator*(const Point3& p) const;

  static Similarity3 Align(const Point3Pairs& abPointPairs);

  static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);


  static Vector7 Logmap(const Similarity3& s,  //
                        OptionalJacobian<7, 7> Hm = {});

  static Similarity3 Expmap(const Vector7& v,  //
                            OptionalJacobian<7, 7> Hm = {});

  struct ChartAtOrigin {
    static Similarity3 Retract(const Vector7& v,
                               ChartJacobian H = {}) {
      return Similarity3::Expmap(v, H);
    }
    static Vector7 Local(const Similarity3& other,
                         ChartJacobian H = {}) {
      return Similarity3::Logmap(other, H);
    }
  };

  using LieGroup<Similarity3, 7>::inverse;

  static Matrix4 wedge(const Vector7& xi);

  Matrix7 AdjointMap() const;


  Matrix4 matrix() const;

  Rot3 rotation() const { return R_; }

  Point3 translation() const { return t_; }

  double scale() const { return s_; }

  inline static size_t Dim() { return 7; }

  inline size_t dim() const { return 7; }


 private:
  static Matrix3 GetV(Vector3 w, double lambda);

};

template <>
inline Matrix wedge<Similarity3>(const Vector& xi) {
  return Similarity3::wedge(xi);
}

template <>
struct traits<Similarity3> : public internal::LieGroup<Similarity3> {};

template <>
struct traits<const Similarity3> : public internal::LieGroup<Similarity3> {};

}  // namespace gtsam