148 lines
3.8 KiB
C++
148 lines
3.8 KiB
C++
/**
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* @file Pose3Upright.h
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*
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* @brief Variation of a Pose3 in which the rotation is constained to purely yaw
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* This state is essentially a Pose2 with a z component, with conversions to
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* higher and lower dimensional states.
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*
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* @date Jan 24, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam_unstable/base/dllexport.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Pose2.h>
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namespace gtsam {
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/**
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* A 3D Pose with fixed pitch and roll
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* @ingroup geometry
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* \nosubgrouping
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*/
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class GTSAM_UNSTABLE_EXPORT Pose3Upright {
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public:
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static const size_t dimension = 4;
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protected:
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Pose2 T_;
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double z_;
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public:
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/// @name Standard Constructors
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/// @{
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/// Default constructor initializes at origin
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Pose3Upright() : z_(0.0) {}
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/// Copy constructor
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Pose3Upright(const Pose3Upright& x) : T_(x.T_), z_(x.z_) {}
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Pose3Upright(const Rot2& bearing, const Point3& t);
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Pose3Upright(double x, double y, double z, double theta);
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Pose3Upright(const Pose2& pose, double z);
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/// Down-converts from a full Pose3
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Pose3Upright(const Pose3& fullpose);
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/// @}
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/// @name Testable
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/// @{
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/** print with optional string */
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void print(const std::string& s = "") const;
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/** assert equality up to a tolerance */
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bool equals(const Pose3Upright& pose, double tol = 1e-9) const;
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/// @}
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/// @name Standard Interface
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/// @{
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double x() const { return T_.x(); }
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double y() const { return T_.y(); }
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double z() const { return z_; }
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double theta() const { return T_.theta(); }
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Point2 translation2() const;
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Point3 translation() const;
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Rot2 rotation2() const;
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Rot3 rotation() const;
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Pose2 pose2() const;
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Pose3 pose() const;
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/// @}
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/// @name Manifold
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/// @{
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/// Dimensionality of tangent space = 4 DOF - used to autodetect sizes
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inline static size_t Dim() { return dimension; }
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/// Dimensionality of tangent space = 4 DOF
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inline size_t dim() const { return dimension; }
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/// Retraction from R^4 to Pose3Upright manifold neighborhood around current pose
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/// Tangent space parameterization is [x y z theta]
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Pose3Upright retract(const Vector& v) const;
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/// Local 3D coordinates of Pose3Upright manifold neighborhood around current pose
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Vector localCoordinates(const Pose3Upright& p2) const;
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/// @}
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/// @name Group
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/// @{
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/// identity for group operation
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static Pose3Upright identity() { return Pose3Upright(); }
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/// inverse transformation with derivatives
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Pose3Upright inverse(boost::optional<Matrix&> H1=boost::none) const;
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///compose this transformation onto another (first *this and then p2)
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Pose3Upright compose(const Pose3Upright& p2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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/// compose syntactic sugar
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inline Pose3Upright operator*(const Pose3Upright& T) const { return compose(T); }
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/**
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* Return relative pose between p1 and p2, in p1 coordinate frame
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* as well as optionally the derivatives
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*/
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Pose3Upright between(const Pose3Upright& p2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const;
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/// @}
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/// @name Lie Group
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/// @{
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/// Exponential map at identity - create a rotation from canonical coordinates
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static Pose3Upright Expmap(const Vector& xi);
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/// Log map at identity - return the canonical coordinates of this rotation
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static Vector Logmap(const Pose3Upright& p);
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/// @}
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private:
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// Serialization function
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_NVP(T_);
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ar & BOOST_SERIALIZATION_NVP(z_);
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}
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}; // \class Pose3Upright
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template<>
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struct traits<Pose3Upright> : public internal::Manifold<Pose3Upright> {};
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} // \namespace gtsam
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