Detailed Description

Represents a 3D point on a unit sphere.

Inheritance diagram for gtsam::Unit3:

Constructors
	Unit3 ()
	Default constructor.

	Unit3 (const Point3 &p)
	Construct from point.

	Unit3 (double x, double y, double z)
	Construct from x,y,z.

static Unit3	FromPoint3 (const Point3 &point, boost::optional< Matrix & > H=boost::none)
	Named constructor from Point3 with optional Jacobian.

static Unit3	Random (boost::mt19937 &rng)
	Random direction, using boost::uniform_on_sphere.

Other functionality
Point3	operator* (double s, const Unit3 &d)
	Return scaled direction as Point3.

const Matrix32 &	basis () const
	Returns the local coordinate frame to tangent plane It is a 3*2 matrix [b1 b2] composed of two orthogonal directions tangent to the sphere at the current direction.

Matrix	skew () const
	Return skew-symmetric associated with 3D point on unit sphere.

const Point3 &	point3 (boost::optional< Matrix & > H=boost::none) const
	Return unit-norm Point3.

Vector	error (const Unit3 &q, boost::optional< Matrix & > H=boost::none) const
	Signed, vector-valued error between two directions.

double	distance (const Unit3 &q, boost::optional< Matrix & > H=boost::none) const
	Distance between two directions.

Manifold
enum	CoordinatesMode { EXPMAP, RENORM }

size_t	dim () const
	Dimensionality of tangent space = 2 DOF.

Unit3	retract (const Vector &v) const
	The retract function.

Vector	localCoordinates (const Unit3 &s) const
	The local coordinates function.

static size_t	Dim ()
	Dimensionality of tangent space = 2 DOF.

Public Member Functions
Testable
void	print (const std::string &s=std::string()) const
	The print fuction.

bool	equals (const Unit3 &s, double tol=1e-9) const
	The equals function with tolerance.

Public Member Functions inherited from gtsam::DerivedValue< Unit3 >
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 Unit3 & () const
	Conversion to the derived class.

	operator Unit3 & ()
	Conversion to the derived class.

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

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Unit3 >
DerivedValue< Unit3 > &	operator= (const DerivedValue< Unit3 > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Member Enumeration Documentation

Enumerator
EXPMAP	Use the exponential map to retract.
RENORM	Retract with vector addtion and renormalize.

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