gtsam  3.2.1
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gtsam::Point3 Class Reference
+ Inheritance diagram for gtsam::Point3:

Group

Point3 inverse () const
 "Inverse" - negates the coordinates such that compose(p, inverse(p)) = Point3()
 
Point3 operator- () const
 syntactic sugar for inverse, i.e., -p == inverse(p)
 
Point3 compose (const Point3 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 "Compose" - just adds coordinates of two points
 
Point3 operator+ (const Point3 &q) const
 syntactic sugar for adding two points, i.e., p+q == compose(p,q)
 
Point3 between (const Point3 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 Between using the default implementation.
 
Point3 operator- (const Point3 &q) const
 syntactic sugar for subtracting points, i.e., q-p == between(p,q)
 
static Point3 identity ()
 identity for group operation
 

Manifold

size_t dim () const
 return dimensionality of tangent space, DOF = 3
 
Point3 retract (const Vector &v) const
 Updates a with tangent space delta.
 
Vector3 localCoordinates (const Point3 &q) const
 Returns inverse retraction.
 
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
 Point3 ()
 Default constructor creates a zero-Point3.
 
 Point3 (double x, double y, double z)
 Construct from x, y, and z coordinates.
 
Advanced Constructors
 Point3 (const Vector &v)
 Construct from 3-element vector.
 
Testable
void print (const std::string &s="") const
 print with optional string
 
bool equals (const Point3 &p, double tol=1e-9) const
 equals with an tolerance
 
Vector Space
Point3 operator* (double s) const
 multiply with a scalar
 
Point3 operator/ (double s) const
 divide by a scalar
 
double distance (const Point3 &p2) const
 distance between two points
 
double dist (const Point3 &p2) const
 
double norm () const
 Distance of the point from the origin.
 
Point3 normalize (boost::optional< Matrix & > H=boost::none) const
 normalize, with optional Jacobian
 
Point3 cross (const Point3 &q) const
 cross product More...
 
double dot (const Point3 &q) const
 dot product More...
 
Standard Interface
bool operator== (const Point3 &q) const
 equality
 
Vector3 vector () const
 return vectorized form (column-wise)
 
double x () const
 get x
 
double y () const
 get y
 
double z () const
 get z
 
Point3 add (const Point3 &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 add two points, add(this,q) is same as this + q
 
Point3 sub (const Point3 &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 subtract two points, sub(this,q) is same as this - q
 
- Public Member Functions inherited from gtsam::DerivedValue< Point3 >
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 Point3 & () const
 Conversion to the derived class.
 
 operator Point3 & ()
 Conversion to the derived class.
 
- Public Member Functions inherited from gtsam::Value
virtual ~Value ()
 Virutal destructor.
 

Static Public Member Functions

Lie Group
static Point3 Expmap (const Vector &v)
 Exponential map at identity - just create a Point3 from x,y,z.
 
static Vector3 Logmap (const Point3 &dp)
 Log map at identity - return the x,y,z of this point.
 
static Matrix dexpL (const Vector &v)
 Left-trivialized derivative of the exponential map.
 
static Matrix dexpInvL (const Vector &v)
 Left-trivialized derivative inverse of the exponential map.
 

Static Public Attributes

static const size_t dimension = 3
 dimension of the variable - used to autodetect sizes
 

Friends

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Point3 &p)
 Output stream operator.
 

Additional Inherited Members

- Protected Member Functions inherited from gtsam::DerivedValue< Point3 >
DerivedValue< Point3 > & operator= (const DerivedValue< Point3 > &rhs)
 Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...
 

Member Function Documentation

Point3 gtsam::Point3::cross ( const Point3 &  q) const

cross product

Returns
this x q
double gtsam::Point3::dist ( const Point3 &  p2) const
inline
Deprecated:
The following function has been deprecated, use distance above
double gtsam::Point3::dot ( const Point3 &  q) const

dot product

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