gtsam::Rot2 Class Reference

Inheritance diagram for gtsam::Rot2:

Constructors and named constructors
	Rot2 ()
	default constructor, zero rotation
	Rot2 (double theta)
	Constructor from angle in radians == exponential map at identity.
static Rot2	fromAngle (double theta)
	Named constructor from angle in radians.
static Rot2	fromDegrees (double theta)
	Named constructor from angle in degrees.
static Rot2	fromCosSin (double c, double s)
	Named constructor from cos(theta),sin(theta) pair, will not normalize!
static Rot2	relativeBearing (const Point2 &d, boost::optional< Matrix & > H=boost::none)
	Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame. More...
static Rot2	atan2 (double y, double x)
	Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes.

Group
Rot2	inverse () const
	The inverse rotation - negative angle.
Rot2	compose (const Rot2 &R, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Compose - make a new rotation by adding angles.
Rot2	operator* (const Rot2 &R) const
	Compose - make a new rotation by adding angles.
Rot2	between (const Rot2 &R, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Between using the default implementation.
static Rot2	identity ()
	identity

Manifold
size_t	dim () const
	Dimensionality of the tangent space, DOF = 1.
Rot2	retract (const Vector &v) const
	Updates a with tangent space delta.
Vector	localCoordinates (const Rot2 &t2) 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
Testable
void	print (const std::string &s="theta") const
	print
bool	equals (const Rot2 &R, double tol=1e-9) const
	equals with an tolerance
Group Action on Point2
Point2	rotate (const Point2 &p, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	rotate point from rotated coordinate frame to world \( p^w = R_c^w p^c \)
Point2	operator* (const Point2 &p) const
	syntactic sugar for rotate
Point2	unrotate (const Point2 &p, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	rotate point from world to rotated frame \( p^c = (R_c^w)^T p^w \)
Standard Interface
Point2	unit () const
	Creates a unit vector as a Point2.
double	theta () const
	return angle (RADIANS)
double	degrees () const
	return angle (DEGREES)
double	c () const
	return cos
double	s () const
	return sin
Matrix	matrix () const
	return 2*2 rotation matrix
Matrix	transpose () const
	return 2*2 transpose (inverse) rotation matrix
Public Member Functions inherited from gtsam::DerivedValue< Rot2 >
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 Rot2 & () const
	Conversion to the derived class.
	operator Rot2 & ()
	Conversion to the derived class.
Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Static Public Member Functions
Lie Group
static Rot2	Expmap (const Vector &v)
	Exponential map at identity - create a rotation from canonical coordinates.
static Vector	Logmap (const Rot2 &r)
	Log map at identity - return the canonical coordinates of this rotation.

Static Public Attributes
static const size_t	dimension = 1
	get the dimension by the type

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Rot2 >
DerivedValue< Rot2 > &	operator= (const DerivedValue< Rot2 > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Member Function Documentation

Rot2 gtsam::Rot2::relativeBearing ( const Point2 &  d, boost::optional< Matrix & >  H = boost::none  )

static

Named constructor with derivative Calculate relative bearing to a landmark in local coordinate frame.

Parameters

d	2D location of landmark
H	optional reference for Jacobian

Returns

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

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

• /home/cbeall3/git/gtsam/gtsam/geometry/Rot2.h
• /home/cbeall3/git/gtsam/gtsam/geometry/Rot2.cpp