Curves
A library for curves generation.
Pose2_Expressions.hpp File Reference
#include "gtsam/nonlinear/Expression.h"
#include "gtsam/geometry/Pose2.h"
#include "gtsam/geometry/Point2.h"
Include dependency graph for Pose2_Expressions.hpp:

Go to the source code of this file.

Macros

#define N_TEST_ITERATIONS   10000
 

Typedefs

typedef gtsam::Pose2 SE2
 
typedef gtsam::Expression< SE2ETransformation
 
typedef gtsam::OptionalJacobian< 3, 3 > ChartJacobian
 
typedef gtsam::Vector3 Vector3
 
typedef gtsam::Expression< gtsam::Vector3EVector3
 

Functions

SE2 makeRandomSE2 ()
 
SE2 inverseImplementation (const SE2 &T, ChartJacobian HT)
 
ETransformation inverse (const ETransformation &T)
 
SE2 composeImplementation (const SE2 &T1, const SE2 &T2, ChartJacobian HT1, ChartJacobian HT2)
 
ETransformation compose (const ETransformation &T1, const ETransformation &T2)
 
double function1 (double alpha)
 
double function2 (double alpha)
 
Vector3 transformationLogImplementation (const SE2 &T, ChartJacobian HT)
 
EVector3 transformationLog (const ETransformation &T)
 
SE2 transformationExpImplementation (const Vector3 &params, ChartJacobian Hp)
 
ETransformation transformationExp (const EVector3 &params)
 
template<int N>
Eigen::Matrix< double, N, 1 > vectorScalingImplementation (const Eigen::Matrix< double, N, 1 > &v, double alpha, gtsam::OptionalJacobian< N, N > H1, gtsam::OptionalJacobian< N, 1 > H2)
 
template<int N>
gtsam::Expression< Eigen::Matrix< double, N, 1 > > vectorScaling (const gtsam::Expression< Eigen::Matrix< double, N, 1 > > &v, double alpha)
 
ETransformation slerp (const ETransformation &T0, const ETransformation &T1, double alpha)
 
gtsam::Point2 transformFromCurveImplementation (gtsam::Pose2 pose, gtsam::Point2 point, gtsam::OptionalJacobian< 2, 3 > H1, gtsam::OptionalJacobian< 2, 2 > H2)
 
gtsam::Expression< gtsam::Point2 > transformFromCurve (const gtsam::Expression< gtsam::Pose2 > &Epose, const gtsam::Expression< gtsam::Point2 > &Epoint)
 
double distanceBetweenPointsImplementation (gtsam::Point2 p1, gtsam::Point2 p2, gtsam::OptionalJacobian< 1, 2 > H1, gtsam::OptionalJacobian< 1, 2 > H2)
 
gtsam::Expression< double > distanceBetweenPoints (const gtsam::Expression< gtsam::Point2 > &Ep1, const gtsam::Expression< gtsam::Point2 > &Ep2)
 
gtsam::Point2 pointsSubtractionImplementation (gtsam::Point2 p1, gtsam::Point2 p2, gtsam::OptionalJacobian< 2, 2 > H1, gtsam::OptionalJacobian< 2, 2 > H2)
 
gtsam::Expression< gtsam::Point2 > pointsSubtraction (const gtsam::Expression< gtsam::Point2 > &Ep1, const gtsam::Expression< gtsam::Point2 > &Ep2)
 
gtsam::Point2 pose2AsPoint2Implementation (gtsam::Pose2 pose, gtsam::OptionalJacobian< 2, 3 > H)
 
gtsam::Expression< gtsam::Point2 > pose2AsPoint2 (const gtsam::Expression< gtsam::Pose2 > &Epose)
 
double poseRangeImplementation (const SE2 &T1, const SE2 &T2, gtsam::OptionalJacobian< 1, 3 > H1, gtsam::OptionalJacobian< 1, 3 > H2)
 
gtsam::Expression< double > poseRange (const gtsam::Expression< gtsam::Pose2 > &Epose1, const gtsam::Expression< gtsam::Pose2 > &Epose2)
 
double pointRangeImplementation (const SE2 &pose, const gtsam::Point2 &point, gtsam::OptionalJacobian< 1, 3 > H1, gtsam::OptionalJacobian< 1, 2 > H2)
 
gtsam::Expression< double > pointRange (const gtsam::Expression< gtsam::Pose2 > &Epose, const gtsam::Expression< gtsam::Point2 > &Epoint)
 

Macro Definition Documentation

#define N_TEST_ITERATIONS   10000

Definition at line 17 of file Pose2_Expressions.hpp.

Typedef Documentation

typedef gtsam::OptionalJacobian<3, 3> ChartJacobian

Definition at line 21 of file Pose2_Expressions.hpp.

typedef gtsam::Expression<SE2> ETransformation

Definition at line 20 of file Pose2_Expressions.hpp.

typedef gtsam::Expression<gtsam::Vector3> EVector3

Definition at line 23 of file Pose2_Expressions.hpp.

typedef gtsam::Pose2 SE2

Definition at line 19 of file Pose2_Expressions.hpp.

typedef gtsam::Vector3 Vector3

Definition at line 22 of file Pose2_Expressions.hpp.

Function Documentation

ETransformation compose ( const ETransformation T1,
const ETransformation T2 
)
inline

Definition at line 47 of file Pose2_Expressions.hpp.

SE2 composeImplementation ( const SE2 T1,
const SE2 T2,
ChartJacobian  HT1,
ChartJacobian  HT2 
)
inline

Definition at line 42 of file Pose2_Expressions.hpp.

gtsam::Expression<double> distanceBetweenPoints ( const gtsam::Expression< gtsam::Point2 > &  Ep1,
const gtsam::Expression< gtsam::Point2 > &  Ep2 
)
inline

Definition at line 149 of file Pose2_Expressions.hpp.

double distanceBetweenPointsImplementation ( gtsam::Point2  p1,
gtsam::Point2  p2,
gtsam::OptionalJacobian< 1, 2 >  H1,
gtsam::OptionalJacobian< 1, 2 >  H2 
)
inline

Definition at line 143 of file Pose2_Expressions.hpp.

double function1 ( double  alpha)
inline

Definition at line 51 of file Pose2_Expressions.hpp.

double function2 ( double  alpha)
inline

Definition at line 63 of file Pose2_Expressions.hpp.

ETransformation inverse ( const ETransformation T)
inline

Definition at line 37 of file Pose2_Expressions.hpp.

SE2 inverseImplementation ( const SE2 T,
ChartJacobian  HT 
)
inline

Definition at line 32 of file Pose2_Expressions.hpp.

SE2 makeRandomSE2 ( )
inline

Definition at line 25 of file Pose2_Expressions.hpp.

gtsam::Expression<double> pointRange ( const gtsam::Expression< gtsam::Pose2 > &  Epose,
const gtsam::Expression< gtsam::Point2 > &  Epoint 
)
inline

Definition at line 203 of file Pose2_Expressions.hpp.

double pointRangeImplementation ( const SE2 pose,
const gtsam::Point2 &  point,
gtsam::OptionalJacobian< 1, 3 >  H1,
gtsam::OptionalJacobian< 1, 2 >  H2 
)
inline

Definition at line 197 of file Pose2_Expressions.hpp.

gtsam::Expression<gtsam::Point2> pointsSubtraction ( const gtsam::Expression< gtsam::Point2 > &  Ep1,
const gtsam::Expression< gtsam::Point2 > &  Ep2 
)
inline

Definition at line 169 of file Pose2_Expressions.hpp.

gtsam::Point2 pointsSubtractionImplementation ( gtsam::Point2  p1,
gtsam::Point2  p2,
gtsam::OptionalJacobian< 2, 2 >  H1,
gtsam::OptionalJacobian< 2, 2 >  H2 
)
inline

Definition at line 155 of file Pose2_Expressions.hpp.

gtsam::Expression<gtsam::Point2> pose2AsPoint2 ( const gtsam::Expression< gtsam::Pose2 > &  Epose)
inline

Definition at line 182 of file Pose2_Expressions.hpp.

gtsam::Point2 pose2AsPoint2Implementation ( gtsam::Pose2  pose,
gtsam::OptionalJacobian< 2, 3 >  H 
)
inline

Definition at line 175 of file Pose2_Expressions.hpp.

gtsam::Expression<double> poseRange ( const gtsam::Expression< gtsam::Pose2 > &  Epose1,
const gtsam::Expression< gtsam::Pose2 > &  Epose2 
)
inline

Definition at line 192 of file Pose2_Expressions.hpp.

double poseRangeImplementation ( const SE2 T1,
const SE2 T2,
gtsam::OptionalJacobian< 1, 3 >  H1,
gtsam::OptionalJacobian< 1, 3 >  H2 
)
inline

Definition at line 186 of file Pose2_Expressions.hpp.

ETransformation slerp ( const ETransformation T0,
const ETransformation T1,
double  alpha 
)
inline

Definition at line 124 of file Pose2_Expressions.hpp.

ETransformation transformationExp ( const EVector3 params)
inline

Definition at line 102 of file Pose2_Expressions.hpp.

SE2 transformationExpImplementation ( const Vector3 params,
ChartJacobian  Hp 
)
inline

Definition at line 97 of file Pose2_Expressions.hpp.

EVector3 transformationLog ( const ETransformation T)
inline

Definition at line 93 of file Pose2_Expressions.hpp.

Vector3 transformationLogImplementation ( const SE2 T,
ChartJacobian  HT 
)
inline

Definition at line 75 of file Pose2_Expressions.hpp.

gtsam::Expression<gtsam::Point2> transformFromCurve ( const gtsam::Expression< gtsam::Pose2 > &  Epose,
const gtsam::Expression< gtsam::Point2 > &  Epoint 
)
inline

Definition at line 137 of file Pose2_Expressions.hpp.

gtsam::Point2 transformFromCurveImplementation ( gtsam::Pose2  pose,
gtsam::Point2  point,
gtsam::OptionalJacobian< 2, 3 >  H1,
gtsam::OptionalJacobian< 2, 2 >  H2 
)
inline

Definition at line 131 of file Pose2_Expressions.hpp.

template<int N>
gtsam::Expression<Eigen::Matrix<double, N, 1> > vectorScaling ( const gtsam::Expression< Eigen::Matrix< double, N, 1 > > &  v,
double  alpha 
)

Definition at line 120 of file Pose2_Expressions.hpp.

template<int N>
Eigen::Matrix<double, N, 1> vectorScalingImplementation ( const Eigen::Matrix< double, N, 1 > &  v,
double  alpha,
gtsam::OptionalJacobian< N, N >  H1,
gtsam::OptionalJacobian< N, 1 >  H2 
)

Definition at line 107 of file Pose2_Expressions.hpp.