Detailed Description
template<>
struct mrpt::poses::SE_traits< 2 >
Specialization of SE for 2D poses.
- See also
- SE_traits
Definition at line 65 of file SE_traits.h.
#include <mrpt/poses/SE_traits.h>
Public Types | |
| enum | { VECTOR_SIZE = 3 } |
| typedef mrpt::math::CArrayDouble< VECTOR_SIZE > | array_t |
| typedef mrpt::math::CMatrixFixedNumeric< double, VECTOR_SIZE, VECTOR_SIZE > | matrix_VxV_t |
| typedef CPose2D | pose_t |
| typedef mrpt::math::TPose2D | lightweight_pose_t |
| typedef mrpt::math::TPoint2D | point_t |
Static Public Member Functions | |
| static void | exp (const array_t &x, CPose2D &P) |
| Exponential map in SE(2) More... | |
| static void | pseudo_exp (const array_t &x, CPose2D &P) |
| Pseudo-Exponential map in SE(2), in this case identical to exp() More... | |
| static void | ln (const CPose2D &P, array_t &x) |
| Logarithm map in SE(2) More... | |
| 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. More... | |
| 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 | |
Member Typedef Documentation
◆ array_t
| typedef mrpt::math::CArrayDouble<VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::array_t |
Definition at line 68 of file SE_traits.h.
◆ lightweight_pose_t
| typedef mrpt::math::TPose2D mrpt::poses::SE_traits< 2 >::lightweight_pose_t |
Definition at line 71 of file SE_traits.h.
◆ matrix_VxV_t
| typedef mrpt::math::CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::matrix_VxV_t |
Definition at line 69 of file SE_traits.h.
◆ point_t
| typedef mrpt::math::TPoint2D mrpt::poses::SE_traits< 2 >::point_t |
Definition at line 72 of file SE_traits.h.
◆ pose_t
| typedef CPose2D mrpt::poses::SE_traits< 2 >::pose_t |
Definition at line 70 of file SE_traits.h.
Member Enumeration Documentation
◆ anonymous enum
| anonymous enum |
| Enumerator | |
|---|---|
| VECTOR_SIZE | |
Definition at line 67 of file SE_traits.h.
Member Function Documentation
◆ exp()
|
inlinestatic |
Exponential map in SE(2)
Definition at line 75 of file SE_traits.h.
References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ jacobian_dP1DP2inv_depsilon()
|
static |
Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:
![\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \]](form_83.png)
![\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \]](form_84.png)
With 
and 
being increments in the linearized manifold for P1 and P2.
◆ ln()
|
inlinestatic |
Logarithm map in SE(2)
Definition at line 81 of file SE_traits.h.
References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ pseudo_exp()
|
inlinestatic |
Pseudo-Exponential map in SE(2), in this case identical to exp()
Definition at line 78 of file SE_traits.h.
◆ pseudo_ln()
|
inlinestatic |
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 86 of file SE_traits.h.