Specialization of SE for 2D poses.
Definition at line 77 of file SE_traits.h.
#include <mrpt/poses/SE_traits.h>
Public Types | |
enum | { VECTOR_SIZE = 3 } |
typedef CArrayDouble< VECTOR_SIZE > | array_t |
typedef CMatrixFixedNumeric < double, VECTOR_SIZE, VECTOR_SIZE > | matrix_VxV_t |
typedef CPose2D | pose_t |
Static Public Member Functions | |
static void | exp (const array_t &x, CPose2D &P) |
Exponential map in SE(2) | |
static void | ln (const CPose2D &P, array_t &x) |
Logarithm map in SE(2) | |
static void | pseudo_ln (const CPose2D &P, array_t &x) |
A pseudo-Logarithm map in SE(2), where the output = [X,Y, Ln(ROT)], that is, the normal SO(2) logarithm is used for the rotation components, but the translation is left unmodified. | |
static void | jacobian_dP1DP2inv_depsilon (const CPose2D &P1DP2inv, matrix_VxV_t *df_de1, matrix_VxV_t *df_de2) |
Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:
With |
typedef CArrayDouble<VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::array_t |
Definition at line 80 of file SE_traits.h.
typedef CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::matrix_VxV_t |
Definition at line 81 of file SE_traits.h.
typedef CPose2D mrpt::poses::SE_traits< 2 >::pose_t |
Definition at line 82 of file SE_traits.h.
anonymous enum |
Definition at line 79 of file SE_traits.h.
static void mrpt::poses::SE_traits< 2 >::exp | ( | const array_t & | x, |
CPose2D & | P | ||
) | [inline, static] |
Exponential map in SE(2)
Definition at line 85 of file SE_traits.h.
References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
static void mrpt::poses::SE_traits< 2 >::jacobian_dP1DP2inv_depsilon | ( | const CPose2D & | P1DP2inv, |
matrix_VxV_t * | df_de1, | ||
matrix_VxV_t * | df_de2 | ||
) | [static] |
Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:
With and
being increments in the linearized manifold for P1 and P2.
static void mrpt::poses::SE_traits< 2 >::ln | ( | const CPose2D & | P, |
array_t & | x | ||
) | [inline, static] |
Logarithm map in SE(2)
Definition at line 88 of file SE_traits.h.
References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
static void mrpt::poses::SE_traits< 2 >::pseudo_ln | ( | const CPose2D & | P, |
array_t & | x | ||
) | [inline, static] |
A pseudo-Logarithm map in SE(2), where the output = [X,Y, Ln(ROT)], that is, the normal SO(2) logarithm is used for the rotation components, but the translation is left unmodified.
Definition at line 93 of file SE_traits.h.
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