#include <Pose3Upright.h>
Collaboration diagram for gtsam::Pose3Upright:
Static Public Attributes | |
| static const size_t | dimension = 4 |
Protected Attributes | |
| Pose2 | T_ |
| double | z_ |
Standard Constructors | |
| Pose3Upright () | |
| Default constructor initializes at origin. | |
| Pose3Upright (const Pose3Upright &x) | |
| Copy constructor. | |
| Pose3Upright (const Rot2 &bearing, const Point3 &t) | |
| Pose3Upright (double x, double y, double z, double theta) | |
| Pose3Upright (const Pose2 &pose, double z) | |
| Pose3Upright (const Pose3 &fullpose) | |
| Down-converts from a full Pose3. | |
Testable | |
| void | print (const std::string &s="") const |
| bool | equals (const Pose3Upright &pose, double tol=1e-9) const |
Standard Interface | |
| double | x () const |
| double | y () const |
| double | z () const |
| double | theta () const |
| Point2 | translation2 () const |
| Point3 | translation () const |
| Rot2 | rotation2 () const |
| Rot3 | rotation () const |
| Pose2 | pose2 () const |
| Pose3 | pose () const |
Manifold | |
| size_t | dim () const |
| Dimensionality of tangent space = 4 DOF. | |
| Pose3Upright | retract (const Vector &v) const |
| Vector | localCoordinates (const Pose3Upright &p2) const |
| Local 3D coordinates of Pose3Upright manifold neighborhood around current pose. | |
| static size_t | Dim () |
| Dimensionality of tangent space = 4 DOF - used to autodetect sizes. | |
Group | |
| Pose3Upright | inverse (OptionalJacobian< 4, 4 > H1={}) const |
| inverse transformation with derivatives | |
| Pose3Upright | compose (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const |
| compose this transformation onto another (first *this and then p2) | |
| Pose3Upright | operator* (const Pose3Upright &T) const |
| compose syntactic sugar | |
| Pose3Upright | between (const Pose3Upright &p2, OptionalJacobian< 4, 4 > H1={}, OptionalJacobian< 4, 4 > H2={}) const |
| static Pose3Upright | Identity () |
| identity for group operation | |
Lie Group | |
| static Pose3Upright | Expmap (const Vector &xi) |
| Exponential map at identity - create a rotation from canonical coordinates. | |
| static Vector | Logmap (const Pose3Upright &p) |
| Log map at identity - return the canonical coordinates of this rotation. | |
Detailed Description
A 3D Pose with fixed pitch and roll
Member Function Documentation
◆ between()
| Pose3Upright gtsam::Pose3Upright::between | ( | const Pose3Upright & | p2, |
| OptionalJacobian< 4, 4 > | H1 = {}, |
||
| OptionalJacobian< 4, 4 > | H2 = {} |
||
| ) | const |
Return relative pose between p1 and p2, in p1 coordinate frame as well as optionally the derivatives
◆ equals()
| bool gtsam::Pose3Upright::equals | ( | const Pose3Upright & | pose, |
| double | tol = 1e-9 |
||
| ) | const |
assert equality up to a tolerance
◆ print()
| void gtsam::Pose3Upright::print | ( | const std::string & | s = "" | ) | const |
print with optional string
◆ retract()
| Pose3Upright gtsam::Pose3Upright::retract | ( | const Vector & | v | ) | const |
Retraction from R^4 to Pose3Upright manifold neighborhood around current pose Tangent space parameterization is [x y z theta]
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/geometry/Pose3Upright.h
