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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1poses.html">poses</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html">SE_traits< 2 ></a> </li>
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<a href="#pub-types">Public Types</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> </div>
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<div class="title">mrpt::poses::SE_traits< 2 > Struct Reference<div class="ingroups"><a class="el" href="group__poses__grp.html">2D/3D points and poses</a></div></div> </div>
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<!-- doxytag: class="mrpt::poses::SE_traits< 2 >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Specialization of SE for 2D poses. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f" title="A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobia...">SE_traits</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_s_e__traits_8h_source.html">mrpt/poses/SE_traits.h</a>></code></p>
<p><a href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a1d2a545f89aaccbc7891541906715effab51f9b1d062848b2be955b6b9f9c6536">VECTOR_SIZE</a> = 3
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classmrpt_1_1math_1_1_c_array_double.html">CArrayDouble</a>< VECTOR_SIZE > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a><br class="typebreak"/>
< double, VECTOR_SIZE, <br class="typebreak"/>
VECTOR_SIZE > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a723d157f92072086bedc7906ec7284d5">pose_t</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#ae945614d80d67b753c96b5826d570123">exp</a> (const <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> &x, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &P)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Exponential map in SE(2) <a href="#ae945614d80d67b753c96b5826d570123"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a6c6e8adf76dfd97fc0fed1656cdd7049">ln</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &P, <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> &x)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Logarithm map in SE(2) <a href="#a6c6e8adf76dfd97fc0fed1656cdd7049"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a9ee7ef37d9fd2b029bda21b8708c57e0">pseudo_ln</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &P, <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> &x)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a9ee7ef37d9fd2b029bda21b8708c57e0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a322a6f4f32524de99521d2422a49bcdd">jacobian_dP1DP2inv_depsilon</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &P1DP2inv, <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a> *df_de1, <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a> *df_de2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return one or both of the following 3x3 Jacobians, useful in graph-slam problems: </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \]" src="form_79.png"/>
</p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \]" src="form_80.png"/>
</p>
<p> With <img class="formulaInl" alt="$ \epsilon_1 $" src="form_81.png"/> and <img class="formulaInl" alt="$ \epsilon_2 $" src="form_82.png"/> being increments in the linearized manifold for P1 and P2. <a href="#a322a6f4f32524de99521d2422a49bcdd"></a><br/></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="aa31012792111f79dfa14df715335a4dc"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::array_t" ref="aa31012792111f79dfa14df715335a4dc" args="" -->
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<td class="memname">typedef <a class="el" href="classmrpt_1_1math_1_1_c_array_double.html">CArrayDouble</a><VECTOR_SIZE> <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::<a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a></td>
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<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00082">82</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
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<a class="anchor" id="a3b8c960a56e2cc3890237a88feeae619"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::matrix_VxV_t" ref="a3b8c960a56e2cc3890237a88feeae619" args="" -->
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<td class="memname">typedef <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a><double,VECTOR_SIZE,VECTOR_SIZE> <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::<a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a></td>
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<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00083">83</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
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<a class="anchor" id="a723d157f92072086bedc7906ec7284d5"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::pose_t" ref="a723d157f92072086bedc7906ec7284d5" args="" -->
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<td class="memname">typedef <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::<a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a723d157f92072086bedc7906ec7284d5">pose_t</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00084">84</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a1d2a545f89aaccbc7891541906715eff"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::@41" ref="a1d2a545f89aaccbc7891541906715eff" args="" -->
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<td class="memname">anonymous enum</td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a1d2a545f89aaccbc7891541906715effab51f9b1d062848b2be955b6b9f9c6536"></a><!-- doxytag: member="VECTOR_SIZE" ref="a1d2a545f89aaccbc7891541906715effab51f9b1d062848b2be955b6b9f9c6536" args="" -->VECTOR_SIZE</em> </td><td>
</td></tr>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00081">81</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae945614d80d67b753c96b5826d570123"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::exp" ref="ae945614d80d67b753c96b5826d570123" args="(const array_t &x, CPose2D &P)" -->
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<td class="memname">static void <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::exp </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> & </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>P</em> </td>
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<td>)</td>
<td></td><td><code> [inline, static]</code></td>
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<p>Exponential map in SE(2) </p>
<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00087">87</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_8h_source.html#l00088">mrpt::poses::CPose2D::phi()</a>.</p>
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<a class="anchor" id="a322a6f4f32524de99521d2422a49bcdd"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::jacobian_dP1DP2inv_depsilon" ref="a322a6f4f32524de99521d2422a49bcdd" args="(const CPose2D &P1DP2inv, matrix_VxV_t *df_de1, matrix_VxV_t *df_de2)" -->
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<td class="memname">static void <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::jacobian_dP1DP2inv_depsilon </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>P1DP2inv</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a> * </td>
<td class="paramname"><em>df_de1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a> * </td>
<td class="paramname"><em>df_de2</em> </td>
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<td>)</td>
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<p>Return one or both of the following 3x3 Jacobians, useful in graph-slam problems: </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \]" src="form_79.png"/>
</p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \]" src="form_80.png"/>
</p>
<p> With <img class="formulaInl" alt="$ \epsilon_1 $" src="form_81.png"/> and <img class="formulaInl" alt="$ \epsilon_2 $" src="form_82.png"/> being increments in the linearized manifold for P1 and P2. </p>
</div>
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<a class="anchor" id="a6c6e8adf76dfd97fc0fed1656cdd7049"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::ln" ref="a6c6e8adf76dfd97fc0fed1656cdd7049" args="(const CPose2D &P, array_t &x)" -->
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<td class="memname">static void <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::ln </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>P</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> & </td>
<td class="paramname"><em>x</em> </td>
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<td>)</td>
<td></td><td><code> [inline, static]</code></td>
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<p>Logarithm map in SE(2) </p>
<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00090">90</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_8h_source.html#l00088">mrpt::poses::CPose2D::phi()</a>.</p>
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<a class="anchor" id="a9ee7ef37d9fd2b029bda21b8708c57e0"></a><!-- doxytag: member="mrpt::poses::SE_traits< 2 >::pseudo_ln" ref="a9ee7ef37d9fd2b029bda21b8708c57e0" args="(const CPose2D &P, array_t &x)" -->
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<td class="memname">static void <a class="el" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">mrpt::poses::SE_traits</a>< 2 >::pseudo_ln </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>P</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a> & </td>
<td class="paramname"><em>x</em> </td>
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<td>)</td>
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<p>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. </p>
<p>Definition at line <a class="el" href="_s_e__traits_8h_source.html#l00095">95</a> of file <a class="el" href="_s_e__traits_8h_source.html">SE_traits.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
