Inheritance diagram for gtsam::Pose2:

Group
Pose2	inverse (boost::optional< Matrix & > H1=boost::none) const
	inverse transformation with derivatives

Pose2	compose (const Pose2 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	compose this transformation onto another (first *this and then p2)

Pose2	operator* (const Pose2 &p2) const
	compose syntactic sugar

Pose2	between (const Pose2 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Return relative pose between p1 and p2, in p1 coordinate frame.

static Pose2	identity ()
	identity for group operation

Manifold
size_t	dim () const
	Dimensionality of tangent space = 3 DOF.

Pose2	retract (const Vector &v) const
	Retraction from R^3 \( [T_x,T_y,\theta] \) to Pose2 manifold neighborhood around current pose.

Vector	localCoordinates (const Pose2 &p2) const
	Local 3D coordinates \( [T_x,T_y,\theta] \) of Pose2 manifold neighborhood around current pose.

static size_t	Dim ()
	Dimensionality of tangent space = 3 DOF - used to autodetect sizes.

Lie Group
Matrix	AdjointMap () const
	Calculate Adjoint map Ad_pose is 3*3 matrix that when applied to twist xi \( [T_x,T_y,\theta] \), returns Ad_pose(xi)

Vector	Adjoint (const Vector &xi) const

static Pose2	Expmap (const Vector &xi)
	Exponential map at identity - create a rotation from canonical coordinates \( [T_x,T_y,\theta] \).

static Vector	Logmap (const Pose2 &p)
	Log map at identity - return the canonical coordinates \( [T_x,T_y,\theta] \) of this rotation.

static Matrix	wedge (double vx, double vy, double w)
	wedge for SE(2): More...

Advanced Interface
class	boost::serialization::access

static std::pair< size_t, size_t >	translationInterval ()
	Return the start and end indices (inclusive) of the translation component of the exponential map parameterization. More...

static std::pair< size_t, size_t >	rotationInterval ()
	Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization. More...

Public Member Functions
Standard Constructors
	Pose2 ()
	default constructor = origin

	Pose2 (const Pose2 &pose)
	copy constructor

	Pose2 (double x, double y, double theta)
	construct from (x,y,theta) More...

	Pose2 (double theta, const Point2 &t)
	construct from rotation and translation

	Pose2 (const Rot2 &r, const Point2 &t)
	construct from r,t

	Pose2 (const Matrix &T)
	Constructor from 3*3 matrix.

Advanced Constructors
	Pose2 (const Vector &v)
	Construct from canonical coordinates \( [T_x,T_y,\theta] \) (Lie algebra)

Testable
void	print (const std::string &s="") const
	print with optional string

bool	equals (const Pose2 &pose, double tol=1e-9) const
	assert equality up to a tolerance

Group Action on Point2
Point2	transform_to (const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Return point coordinates in pose coordinate frame.

Point2	transform_from (const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Return point coordinates in global frame.

Point2	operator* (const Point2 &point) const
	syntactic sugar for transform_from

Standard Interface
double	x () const
	get x

double	y () const
	get y

double	theta () const
	get theta

const Point2 &	t () const
	translation

const Rot2 &	r () const
	rotation

const Point2 &	translation () const
	translation

const Rot2 &	rotation () const
	rotation

Matrix	matrix () const

Rot2	bearing (const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate bearing to a landmark. More...

Rot2	bearing (const Pose2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate bearing to another pose. More...

double	range (const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate range to a landmark. More...

double	range (const Pose2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Calculate range to another pose. More...

Public Member Functions inherited from gtsam::DerivedValue< Pose2 >
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 Pose2 & () const
	Conversion to the derived class.

	operator Pose2 & ()
	Conversion to the derived class.

Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Static Public Attributes
static const size_t	dimension = 3

Public Types
typedef Rot2	Rotation
	Pose Concept requirements.

typedef Point2	Translation

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Pose2 >
DerivedValue< Pose2 > &	operator= (const DerivedValue< Pose2 > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Constructor & Destructor Documentation

gtsam::Pose2::Pose2	(	double	x,
		double	y,
		double	theta
	)

inline

construct from (x,y,theta)

Parameters

x	x coordinate
y	y coordinate
theta	angle with positive X-axis

Member Function Documentation

Rot2 gtsam::Pose2::bearing	(	const Point2 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

Calculate bearing to a landmark.

Parameters

point 2D location of landmark

Returns: 2D rotation \( \in SO(2) \)

Rot2 gtsam::Pose2::bearing	(	const Pose2 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

Calculate bearing to another pose.

Parameters

point SO(2) location of other pose

Returns: 2D rotation \( \in SO(2) \)

double gtsam::Pose2::range	(	const Point2 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

Calculate range to a landmark.

Parameters

point 2D location of landmark

Returns: range (double)

double gtsam::Pose2::range	(	const Pose2 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

Calculate range to another pose.

Parameters

point 2D location of other pose

Returns: range (double)

static std::pair<size_t, size_t> gtsam::Pose2::rotationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the rotation component of the exponential map parameterization.

Returns: a pair of [start, end] indices into the tangent space vector

static std::pair<size_t, size_t> gtsam::Pose2::translationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.

Returns: a pair of [start, end] indices into the tangent space vector

static Matrix gtsam::Pose2::wedge	(	double	vx,
		double	vy,
		double	w
	)

inlinestatic

wedge for SE(2):

Parameters

xi	3-dim twist (v,omega) where omega is angular velocity v (vx,vy) = 2D velocity

Returns: xihat, 3*3 element of Lie algebra that can be exponentiated

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

/home/cbeall3/git/gtsam/gtsam/geometry/Pose2.h
/home/cbeall3/git/gtsam/gtsam/geometry/Pose2.cpp

Group

Manifold

Lie Group

Advanced Interface

Public Member Functions

Static Public Attributes

Public Types

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation