gtsam::Point2 Class Reference

Inheritance diagram for gtsam::Point2:

Advanced Constructors
	Point2 (const Vector &v)
	construct from 2D vector
static boost::optional< Point2 >	CircleCircleIntersection (double R_d, double r_d, double tol=1e-9)
static std::list< Point2 >	CircleCircleIntersection (Point2 c1, Point2 c2, boost::optional< Point2 >)
static std::list< Point2 >	CircleCircleIntersection (Point2 c1, double r1, Point2 c2, double r2, double tol=1e-9)
	Intersect 2 circles. More...

Group
Point2	inverse () const
	"Inverse" - negates each coordinate such that compose(p,inverse(p)) == identity()
Point2	operator- () const
	syntactic sugar for inverse, i.e., -p == inverse(p)
Point2	compose (const Point2 &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	"Compose", just adds the coordinates of two points. With optional derivatives
Point2	operator+ (const Point2 &q) const
	syntactic sugar for adding two points, i.e., p+q == compose(p,q)
Point2	between (const Point2 &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	"Between", subtracts point coordinates. between(p,q) == compose(inverse(p),q)
Point2	operator- (const Point2 &q) const
	syntactic sugar for subtracting points, i.e., q-p == between(p,q)
static Point2	identity ()
	identity

Manifold
size_t	dim () const
	Dimensionality of tangent space = 2 DOF.
Point2	retract (const Vector &v) const
	Updates a with tangent space delta.
Vector	localCoordinates (const Point2 &t2) const
	Local coordinates of manifold neighborhood around current value.
static size_t	Dim ()
	dimension of the variable - used to autodetect sizes

Advanced Interface
class	boost::serialization::access
	Serialization function.

Public Member Functions
Standard Constructors
	Point2 ()
	default constructor
	Point2 (double x, double y)
	construct from doubles
Testable
void	print (const std::string &s="") const
	print with optional string
bool	equals (const Point2 &q, double tol=1e-9) const
	equals with an tolerance, prints out message if unequal
Vector Space
Point2	unit () const
	creates a unit vector
double	norm (boost::optional< Matrix & > H=boost::none) const
	norm of point
double	distance (const Point2 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	distance between two points
double	dist (const Point2 &p2) const
Point2	operator* (double s) const
	multiply with a scalar
Point2	operator/ (double q) const
	divide by a scalar
Standard Interface
bool	operator== (const Point2 &q) const
	equality
double	x () const
	get x
double	y () const
	get y
Vector2	vector () const
	return vectorized form (column-wise). TODO: why does this function exist?
Deprecated (non-const, non-functional style. Do not use).
void	operator+= (const Point2 &q)
void	operator*= (double s)
Public Member Functions inherited from gtsam::DerivedValue< Point2 >
virtual Value *	clone_ () const
	Create a duplicate object returned as a pointer to the generic Value interface. More...
virtual void	deallocate_ () const
	Destroy and deallocate this object, only if it was originally allocated using clone_().
virtual boost::shared_ptr< Value >	clone () const
	Clone this value (normal clone on the heap, delete with 'delete' operator)
virtual bool	equals_ (const Value &p, double tol=1e-9) const
	equals implementing generic Value interface
virtual Value *	retract_ (const Vector &delta) const
	Generic Value interface version of retract.
virtual Vector	localCoordinates_ (const Value &value2) const
	Generic Value interface version of localCoordinates.
virtual Value &	operator= (const Value &rhs)
	Assignment operator.
	operator const Point2 & () const
	Conversion to the derived class.
	operator Point2 & ()
	Conversion to the derived class.
Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Static Public Member Functions
Lie Group
static Point2	Expmap (const Vector &v)
	Exponential map around identity - just create a Point2 from a vector.
static Vector	Logmap (const Point2 &dp)
	Log map around identity - just return the Point2 as a vector.

Static Public Attributes
static const size_t	dimension = 2
	dimension of the variable - used to autodetect sizes

Friends
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Point2 &p)
	Streaming.

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Point2 >
DerivedValue< Point2 > &	operator= (const DerivedValue< Point2 > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Member Function Documentation

list< Point2 > gtsam::Point2::CircleCircleIntersection ( Point2  c1, double  r1, Point2  c2, double  r2, double  tol = 1e-9  )

static

Intersect 2 circles.

Parameters

c1	center of first circle
r1	radius of first circle
c2	center of second circle
r2	radius of second circle
tol	absolute tolerance below which we consider touching circles

Returns

list of solutions (0,1, or 2). Identical circles will return empty list, as well.

double gtsam::Point2::dist ( const Point2 &  p2 ) const

inline

Deprecated:

The following function has been deprecated, use distance above

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

• /home/cbeall3/git/gtsam/gtsam/geometry/Point2.h
• /home/cbeall3/git/gtsam/gtsam/geometry/Point2.cpp