77 lines
2.6 KiB
C++
77 lines
2.6 KiB
C++
/**
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* @file BearingS2.cpp
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*
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* @date Jan 26, 2012
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* @author Alex Cunningham
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*/
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#include <iostream>
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#include <gtsam_unstable/geometry/BearingS2.h>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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void BearingS2::print(const std::string& s) const {
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cout << s << " azimuth: " << azimuth_.theta() << " elevation: " << elevation_.theta() << endl;
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}
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/* ************************************************************************* */
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bool BearingS2::equals(const BearingS2& x, double tol) const {
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return azimuth_.equals(x.azimuth_, tol) && elevation_.equals(x.elevation_, tol);
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}
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/* ************************************************************************* */
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BearingS2 BearingS2::fromDownwardsObservation(const Pose3& A, const Point3& B) {
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// Cnb = DCMnb(Att);
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Matrix Cnb = A.rotation().matrix().transpose();
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// Cbc = [0,0,1;0,1,0;-1,0,0];
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Matrix Cbc = (Matrix(3,3) <<
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0.,0.,1.,
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0.,1.,0.,
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-1.,0.,0.);
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// p_rel_c = Cbc*Cnb*(PosObj - Pos);
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Vector p_rel_c = Cbc*Cnb*(B.vector() - A.translation().vector());
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// FIXME: the matlab code checks for p_rel_c(0) greater than
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// azi = atan2(p_rel_c(2),p_rel_c(1));
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double azimuth = atan2(p_rel_c(1),p_rel_c(0));
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// elev = atan2(p_rel_c(3),sqrt(p_rel_c(1)^2 + p_rel_c(2)^2));
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double elevation = atan2(p_rel_c(2),sqrt(p_rel_c(0) * p_rel_c(0) + p_rel_c(1) * p_rel_c(1)));
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return BearingS2(azimuth, elevation);
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}
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/* ************************************************************************* */
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BearingS2 BearingS2::fromForwardObservation(const Pose3& A, const Point3& B) {
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// Cnb = DCMnb(Att);
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Matrix Cnb = A.rotation().matrix().transpose();
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Vector p_rel_c = Cnb*(B.vector() - A.translation().vector());
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// FIXME: the matlab code checks for p_rel_c(0) greater than
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// azi = atan2(p_rel_c(2),p_rel_c(1));
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double azimuth = atan2(p_rel_c(1),p_rel_c(0));
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// elev = atan2(p_rel_c(3),sqrt(p_rel_c(1)^2 + p_rel_c(2)^2));
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double elevation = atan2(p_rel_c(2),sqrt(p_rel_c(0) * p_rel_c(0) + p_rel_c(1) * p_rel_c(1)));
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return BearingS2(azimuth, elevation);
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}
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/* ************************************************************************* */
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BearingS2 BearingS2::retract(const Vector& v) const {
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assert(v.size() == 2);
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return BearingS2(azimuth_.retract(v.head(1)), elevation_.retract(v.tail(1)));
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}
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/* ************************************************************************* */
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Vector BearingS2::localCoordinates(const BearingS2& x) const {
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return (Vector(2) << azimuth_.localCoordinates(x.azimuth_)(0),
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elevation_.localCoordinates(x.elevation_)(0));
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}
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} // \namespace gtsam
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