MRPT  1.9.9
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mrpt::poses::SE_traits< 2 > Struct Template Reference
2D/3D points and poses

Detailed Description

template<>
struct mrpt::poses::SE_traits< 2 >

Specialization of SE for 2D poses.

See also
SE_traits

Definition at line 92 of file SE_traits.h.

#include <mrpt/poses/SE_traits.h>

Public Types

using array_t = mrpt::math::CArrayDouble< VECTOR_SIZE >
 
using matrix_VxV_t = mrpt::math::CMatrixFixedNumeric< double, VECTOR_SIZE, VECTOR_SIZE >
 
using pose_t = CPose2D
 
using lightweight_pose_t = mrpt::math::TPose2D
 
using point_t = mrpt::math::TPoint2D
 

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:

\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \]

\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \]

With $ \epsilon_1 $ and $ \epsilon_2 $ being increments in the linearized manifold for P1 and P2. More...

 
static void jacobian_dDinvP1invP2_depsilon (const CPose2D &Dinv, const CPose2D &P1, const CPose2D &P2, matrix_VxV_t *df_de1, matrix_VxV_t *df_de2)
 Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:

\[ \frac{\partial pseudoLn(D^{-1} P_1^{-1} P_2}{\partial \epsilon_1} \]

\[ \frac{\partial pseudoLn(D^{-1} P_1^{-1} P_2}{\partial \epsilon_1} \]

With $ \epsilon_1 $ and $ \epsilon_2 $ being increments in the linearized manifold for P1 and P2. More...

 

Static Public Attributes

static constexpr size_t VECTOR_SIZE = 3
 

Member Typedef Documentation

◆ array_t

using mrpt::poses::SE_traits< 2 >::array_t = mrpt::math::CArrayDouble<VECTOR_SIZE>

Definition at line 95 of file SE_traits.h.

◆ lightweight_pose_t

using mrpt::poses::SE_traits< 2 >::lightweight_pose_t = mrpt::math::TPose2D

Definition at line 99 of file SE_traits.h.

◆ matrix_VxV_t

using mrpt::poses::SE_traits< 2 >::matrix_VxV_t = mrpt::math::CMatrixFixedNumeric<double, VECTOR_SIZE, VECTOR_SIZE>

Definition at line 97 of file SE_traits.h.

◆ point_t

using mrpt::poses::SE_traits< 2 >::point_t = mrpt::math::TPoint2D

Definition at line 100 of file SE_traits.h.

◆ pose_t

using mrpt::poses::SE_traits< 2 >::pose_t = CPose2D

Definition at line 98 of file SE_traits.h.

Member Function Documentation

◆ exp()

static void mrpt::poses::SE_traits< 2 >::exp ( const array_t &  x,
CPose2D &  P 
)
inlinestatic

Exponential map in SE(2)

Definition at line 103 of file SE_traits.h.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ jacobian_dDinvP1invP2_depsilon()

static void mrpt::poses::SE_traits< 2 >::jacobian_dDinvP1invP2_depsilon ( const CPose2D &  Dinv,
const CPose2D &  P1,
const CPose2D &  P2,
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:

\[ \frac{\partial pseudoLn(D^{-1} P_1^{-1} P_2}{\partial \epsilon_1} \]

\[ \frac{\partial pseudoLn(D^{-1} P_1^{-1} P_2}{\partial \epsilon_1} \]

With $ \epsilon_1 $ and $ \epsilon_2 $ being increments in the linearized manifold for P1 and P2.

◆ jacobian_dP1DP2inv_depsilon()

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:

\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \]

\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \]

With $ \epsilon_1 $ and $ \epsilon_2 $ being increments in the linearized manifold for P1 and P2.

◆ ln()

static void mrpt::poses::SE_traits< 2 >::ln ( const CPose2D &  P,
array_t &  x 
)
inlinestatic

Logarithm map in SE(2)

Definition at line 113 of file SE_traits.h.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ pseudo_exp()

static void mrpt::poses::SE_traits< 2 >::pseudo_exp ( const array_t &  x,
CPose2D &  P 
)
inlinestatic

Pseudo-Exponential map in SE(2), in this case identical to exp()

Definition at line 111 of file SE_traits.h.

◆ pseudo_ln()

static void mrpt::poses::SE_traits< 2 >::pseudo_ln ( const CPose2D &  P,
array_t &  x 
)
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 125 of file SE_traits.h.

Member Data Documentation

◆ VECTOR_SIZE

constexpr size_t mrpt::poses::SE_traits< 2 >::VECTOR_SIZE = 3
static

Definition at line 94 of file SE_traits.h.



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