111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
/*
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* Rot2.cpp
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*
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* Created on: Dec 9, 2009
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* Author: Frank Dellaert
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*/
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#include "Rot2.h"
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#include "Lie-inl.h"
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using namespace std;
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namespace gtsam {
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/** Explicit instantiation of base class to export members */
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INSTANTIATE_LIE(Rot2);
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/* ************************************************************************* */
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Rot2 Rot2::fromCosSin(double c, double s) {
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if (fabs(c * c + s * s - 1.0) > 1e-9) {
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double norm_cs = sqrt(c*c + s*s);
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c = c/norm_cs;
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s = s/norm_cs;
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}
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return Rot2(c, s);
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}
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/* ************************************************************************* */
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Rot2 Rot2::atan2(double y, double x) {
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Rot2 R(x, y);
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return R.normalize();
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}
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/* ************************************************************************* */
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void Rot2::print(const string& s) const {
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cout << s << ":" << theta() << endl;
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}
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/* ************************************************************************* */
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bool Rot2::equals(const Rot2& R, double tol) const {
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return fabs(c_ - R.c_) <= tol && fabs(s_ - R.s_) <= tol;
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}
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/* ************************************************************************* */
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Rot2& Rot2::normalize() {
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double scale = c_*c_ + s_*s_;
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if(fabs(scale-1.0)>1e-9) {
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scale = pow(scale, -0.5);
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c_ *= scale;
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s_ *= scale;
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}
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return *this;
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}
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/* ************************************************************************* */
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Matrix Rot2::matrix() const {
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return Matrix_(2, 2, c_, -s_, s_, c_);
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}
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/* ************************************************************************* */
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Matrix Rot2::transpose() const {
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return Matrix_(2, 2, c_, s_, -s_, c_);
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}
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/* ************************************************************************* */
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Point2 Rot2::rotate(const Point2& p) const {
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return Point2(c_ * p.x() + -s_ * p.y(), s_ * p.x() + c_ * p.y());
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}
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/* ************************************************************************* */
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Point2 Rot2::unrotate(const Point2& p) const {
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return Point2(c_ * p.x() + s_ * p.y(), -s_ * p.x() + c_ * p.y());
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}
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/* ************************************************************************* */
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// see doc/math.lyx, SO(2) section
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Point2 rotate(const Rot2 & R, const Point2& p, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) {
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Point2 q = R * p;
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if (H1) *H1 = Matrix_(2, 1, -q.y(), q.x());
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if (H2) *H2 = R.matrix();
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return q;
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}
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/* ************************************************************************* */
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// see doc/math.lyx, SO(2) section
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Point2 unrotate(const Rot2 & R, const Point2& p,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
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Point2 q = R.unrotate(p);
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if (H1) *H1 = Matrix_(2, 1, q.y(), -q.x()); // R_{pi/2}q
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if (H2) *H2 = R.transpose();
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return q;
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}
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/* ************************************************************************* */
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Rot2 relativeBearing(const Point2& d) {
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double n = d.norm();
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return Rot2::fromCosSin(d.x() / n, d.y() / n);
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}
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/* ************************************************************************* */
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Rot2 relativeBearing(const Point2& d, boost::optional<Matrix&> H) {
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double x = d.x(), y = d.y(), d2 = x * x + y * y, n = sqrt(d2);
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if (H) *H = Matrix_(1, 2, -y / d2, x / d2);
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return Rot2::fromCosSin(x / n, y / n);
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}
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/* ************************************************************************* */
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} // gtsam
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