12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

mark Pose2 as GTSAM_EXPORT at the class level

release/4.3a0
Varun Agrawal 2023-06-21 13:29:10 -04:00
parent f65414d7ef
commit 43a9fbf461
1 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
gtsam/geometry/Pose2.h
View File

@ -36,7 +36,7 @@ namespace gtsam {
* @ingroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Pose2: public LieGroup<Pose2, 3> { class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
public: public:
@ -112,10 +112,10 @@ public:
/// @{ /// @{
/** print with optional string */ /** print with optional string */
GTSAM_EXPORT void print(const std::string& s = "") const; void print(const std::string& s = "") const;
/** assert equality up to a tolerance */ /** assert equality up to a tolerance */
GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const; bool equals(const Pose2& pose, double tol = 1e-9) const;
/// @} /// @}
/// @name Group /// @name Group
@ -125,7 +125,7 @@ public:
inline static Pose2 Identity() { return Pose2(); } inline static Pose2 Identity() { return Pose2(); }
/// inverse /// inverse
GTSAM_EXPORT Pose2 inverse() const; Pose2 inverse() const;
/// compose syntactic sugar /// compose syntactic sugar
inline Pose2 operator*(const Pose2& p2) const { inline Pose2 operator*(const Pose2& p2) const {
@ -137,16 +137,16 @@ public:
/// @{ /// @{
///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$ ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {}); static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {}); static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
/** /**
* Calculate Adjoint map * Calculate Adjoint map
* Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi) * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
*/ */
GTSAM_EXPORT Matrix3 AdjointMap() const; Matrix3 AdjointMap() const;
/// Apply AdjointMap to twist xi /// Apply AdjointMap to twist xi
inline Vector3 Adjoint(const Vector3& xi) const { inline Vector3 Adjoint(const Vector3& xi) const {
@ -156,7 +156,7 @@ public:
/** /**
* Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19 * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
*/ */
GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v); static Matrix3 adjointMap(const Vector3& v);
/** /**
* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@ -192,15 +192,15 @@ public:
} }
/// Derivative of Expmap /// Derivative of Expmap
GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v); static Matrix3 ExpmapDerivative(const Vector3& v);
/// Derivative of Logmap /// Derivative of Logmap
GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v); static Matrix3 LogmapDerivative(const Pose2& v);
// Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
struct ChartAtOrigin { struct ChartAtOrigin {
GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {}); static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {}); static Vector3 Local(const Pose2& r, ChartJacobian H = {});
}; };
using LieGroup<Pose2, 3>::inverse; // version with derivative using LieGroup<Pose2, 3>::inverse; // version with derivative
@ -210,7 +210,7 @@ public:
/// @{ /// @{
/** Return point coordinates in pose coordinate frame */ /** Return point coordinates in pose coordinate frame */
GTSAM_EXPORT Point2 transformTo(const Point2& point, Point2 transformTo(const Point2& point,
OptionalJacobian<2, 3> Dpose = {}, OptionalJacobian<2, 3> Dpose = {},
OptionalJacobian<2, 2> Dpoint = {}) const; OptionalJacobian<2, 2> Dpoint = {}) const;
@ -222,7 +222,7 @@ public:
Matrix transformTo(const Matrix& points) const; Matrix transformTo(const Matrix& points) const;
/** Return point coordinates in global frame */ /** Return point coordinates in global frame */
GTSAM_EXPORT Point2 transformFrom(const Point2& point, Point2 transformFrom(const Point2& point,
OptionalJacobian<2, 3> Dpose = {}, OptionalJacobian<2, 3> Dpose = {},
OptionalJacobian<2, 2> Dpoint = {}) const; OptionalJacobian<2, 2> Dpoint = {}) const;
@ -273,14 +273,14 @@ public:
} }
//// return transformation matrix //// return transformation matrix
GTSAM_EXPORT Matrix3 matrix() const; Matrix3 matrix() const;
/** /**
* Calculate bearing to a landmark * Calculate bearing to a landmark
* @param point 2D location of landmark * @param point 2D location of landmark
* @return 2D rotation \f$ \in SO(2) \f$ * @return 2D rotation \f$ \in SO(2) \f$
*/ */
GTSAM_EXPORT Rot2 bearing(const Point2& point, Rot2 bearing(const Point2& point,
OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const; OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
/** /**
@ -288,7 +288,7 @@ public:
* @param point SO(2) location of other pose * @param point SO(2) location of other pose
* @return 2D rotation \f$ \in SO(2) \f$ * @return 2D rotation \f$ \in SO(2) \f$
*/ */
GTSAM_EXPORT Rot2 bearing(const Pose2& pose, Rot2 bearing(const Pose2& pose,
OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const; OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
/** /**
@ -296,7 +296,7 @@ public:
* @param point 2D location of landmark * @param point 2D location of landmark
* @return range (double) * @return range (double)
*/ */
GTSAM_EXPORT double range(const Point2& point, double range(const Point2& point,
OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H1={},
OptionalJacobian<1, 2> H2={}) const; OptionalJacobian<1, 2> H2={}) const;
@ -305,7 +305,7 @@ public:
* @param point 2D location of other pose * @param point 2D location of other pose
* @return range (double) * @return range (double)
*/ */
GTSAM_EXPORT double range(const Pose2& point, double range(const Pose2& point,
OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H1={},
OptionalJacobian<1, 3> H2={}) const; OptionalJacobian<1, 3> H2={}) const;