gtsam::OrientedPlane3 Class Reference

Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin. Currently it provides a transform of the plane, and a norm 1 differencing of two planes. Refer to Trevor12iros for more math details. More...

#include <OrientedPlane3.h>

Public Types
enum	{ dimension = 3 }

Public Member Functions
OrientedPlane3	transform (const Pose3 &xr, OptionalJacobian< 3, 3 > Hp={}, OptionalJacobian< 3, 6 > Hr={}) const
Vector3	errorVector (const OrientedPlane3 &other, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
size_t	dim () const
	Dimensionality of tangent space = 3 DOF.
OrientedPlane3	retract (const Vector3 &v, OptionalJacobian< 3, 3 > H={}) const
	The retract function.
Vector3	localCoordinates (const OrientedPlane3 &s) const
	The local coordinates function.
Vector4	planeCoefficients () const
	Returns the plane coefficients.
Unit3	normal (OptionalJacobian< 2, 3 > H={}) const
	Return the normal.
double	distance (OptionalJacobian< 1, 3 > H={}) const
	Return the perpendicular distance to the origin.
Constructors
	OrientedPlane3 ()
	Default constructor.
	OrientedPlane3 (const Unit3 &n, double d)
	Construct from a Unit3 and a distance.
	OrientedPlane3 (const Vector4 &vec)
	Construct from a vector of plane coefficients.
	OrientedPlane3 (double a, double b, double c, double d)
	Construct from four numbers of plane coeffcients (a, b, c, d)
Testable
void	print (const std::string &s=std::string()) const
	The print function.
bool	equals (const OrientedPlane3 &s, double tol=1e-9) const
	The equals function with tolerance.

Static Public Member Functions
static size_t	Dim ()
	Dimensionality of tangent space = 3 DOF.

Detailed Description

Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin. Currently it provides a transform of the plane, and a norm 1 differencing of two planes. Refer to Trevor12iros for more math details.

Member Function Documentation

errorVector()

Vector3 gtsam::OrientedPlane3::errorVector	(	const OrientedPlane3 &	other,
		OptionalJacobian< 3, 3 >	H1 = {},
		OptionalJacobian< 3, 3 >	H2 = {}
	)		const

Computes the error between the two planes, with derivatives. This uses Unit3::errorVector, as opposed to the other .error() in this class, which uses Unit3::localCoordinates. This one has correct derivatives. NOTE(hayk): The derivatives are zero when normals are exactly orthogonal.

Parameters

other

the other plane

transform()

OrientedPlane3 gtsam::OrientedPlane3::transform	(	const Pose3 &	xr,
		OptionalJacobian< 3, 3 >	Hp = {},
		OptionalJacobian< 3, 6 >	Hr = {}
	)		const

Transforms a plane to the specified pose

Parameters

xr	a transformation in current coordiante
Hp	optional Jacobian wrpt the destination plane
Hr	optional jacobian wrpt the pose transformation

Returns

the transformed plane

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/OrientedPlane3.h