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<div class="title">SE_traits.h</div> </div>
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<a href="_s_e__traits_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef MRPT_SE3_TRAITS_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define MRPT_SE3_TRAITS_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_fixed_numeric_8h.html">mrpt/math/CMatrixFixedNumeric.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>poses
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** \addtogroup poses_grp</span>
<a name="l00040"></a>00040 <span class="comment"> * @{ */</span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.</span>
<a name="l00043"></a>00043 <span class="comment"> * \sa SE_traits<2>, SE_traits<3>, CPose3D, CPose2D</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a><a class="code" href="group__poses__grp.html#ga899554619c1db3f2618f8341356ed79f">00045</a> <span class="keyword">template</span> <<span class="keywordtype">size_t</span> DOF> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" 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>;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** Specialization of SE for 3D poses \sa SE_traits */</span>
<a name="l00048"></a>00048 <span class="keyword">template</span> <> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" 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><3>
<a name="l00049"></a>00049 {
<a name="l00050"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#affd0736371c27a79a2fa1c9e10584201ac22fba4ee2f77d02bc8773886a203398">00050</a> <span class="keyword">enum</span> { VECTOR_SIZE = 6 };
<a name="l00051"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a171ed31b6e6e124d997bacfdc537e0b3">00051</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">CArrayDouble<VECTOR_SIZE></a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a171ed31b6e6e124d997bacfdc537e0b3">array_t</a>;
<a name="l00052"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a7c0762596ab0c526ee7dfecd24d8c9d4">00052</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE></a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a7c0762596ab0c526ee7dfecd24d8c9d4">matrix_VxV_t</a>;
<a name="l00053"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a1200f2b4fbcfdb67d101992da6877031">00053</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a1200f2b4fbcfdb67d101992da6877031">pose_t</a>;
<a name="l00054"></a>00054 <span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Exponential map in SE(3) */</span>
<a name="l00056"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a67de25d5a847423b9619a4677cc7140c">00056</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#a67de25d5a847423b9619a4677cc7140c" title="Exponential map in SE(3)">exp</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">array_t</a> &x, <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &P) { P = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html#a5a428183c43efbd6d11fdf1125900eb9" title="Exponentiate a Vector in the SE(3) Lie Algebra to generate a new CPose3D (static method).">CPose3D::exp</a>(x); }
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Logarithm map in SE(3) */</span>
<a name="l00059"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#ade92c524ab79a5b0b0078db48e8ef11f">00059</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_013_01_4.html#ade92c524ab79a5b0b0078db48e8ef11f" title="Logarithm map in SE(3)">ln</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &P, <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">array_t</a> &x) { P.<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html#aaa3c171a7d2314b99fef5fa04027a974" title="Take the logarithm of the 3x4 matrix defined by this pose, generating the corresponding vector in the...">ln</a>(x); }
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** A pseudo-Logarithm map in SE(3), where the output = [X,Y,Z, Ln(ROT)], that is, the normal</span>
<a name="l00062"></a>00062 <span class="comment"> * SO(3) logarithm is used for the rotation components, but the translation is left unmodified.</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 <span class="keyword">static</span> <span class="keywordtype">void</span> pseudo_ln(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &P, array_t &x);
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Return one or both of the following 6x6 Jacobians, useful in graph-slam problems:</span>
<a name="l00067"></a>00067 <span class="comment"> * \f[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \f]</span>
<a name="l00068"></a>00068 <span class="comment"> * \f[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \f]</span>
<a name="l00069"></a>00069 <span class="comment"> * With \f$ \epsilon_1 \f$ and \f$ \epsilon_2 \f$ being increments in the linearized manifold for P1 and P2.</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keyword">static</span> <span class="keywordtype">void</span> jacobian_dP1DP2inv_depsilon(
<a name="l00072"></a>00072 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &P1DP2inv,
<a name="l00073"></a>00073 matrix_VxV_t *df_de1,
<a name="l00074"></a>00074 matrix_VxV_t *df_de2);
<a name="l00075"></a>00075
<a name="l00076"></a>00076 }; <span class="comment">// end SE_traits</span>
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Specialization of SE for 2D poses \sa SE_traits */</span>
<a name="l00079"></a>00079 <span class="keyword">template</span> <> <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" 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><2>
<a name="l00080"></a>00080 {
<a name="l00081"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a1d2a545f89aaccbc7891541906715effab51f9b1d062848b2be955b6b9f9c6536">00081</a> <span class="keyword">enum</span> { VECTOR_SIZE = 3 };
<a name="l00082"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">00082</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">CArrayDouble<VECTOR_SIZE></a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#aa31012792111f79dfa14df715335a4dc">array_t</a>;
<a name="l00083"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">00083</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE></a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a3b8c960a56e2cc3890237a88feeae619">matrix_VxV_t</a>;
<a name="l00084"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a723d157f92072086bedc7906ec7284d5">00084</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a723d157f92072086bedc7906ec7284d5">pose_t</a>;
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Exponential map in SE(2) */</span>
<a name="l00087"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#ae945614d80d67b753c96b5826d570123">00087</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#ae945614d80d67b753c96b5826d570123" title="Exponential map in SE(2)">exp</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">array_t</a> &x, <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &P) { P.x(x[0]); P.y(x[1]); P.<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ab9a8af6ad8281b613bbc37cb3f0c9bb5" title="Get the phi angle of the 2D pose (in radians)">phi</a>(x[2]); }
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Logarithm map in SE(2) */</span>
<a name="l00090"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a6c6e8adf76dfd97fc0fed1656cdd7049">00090</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a6c6e8adf76dfd97fc0fed1656cdd7049" title="Logarithm map in SE(2)">ln</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &P, <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">array_t</a> &x) { x[0] = P.x(); x[1] = P.y(); x[2] = P.<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ab9a8af6ad8281b613bbc37cb3f0c9bb5" title="Get the phi angle of the 2D pose (in radians)">phi</a>(); }
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** A pseudo-Logarithm map in SE(2), where the output = [X,Y, Ln(ROT)], that is, the normal</span>
<a name="l00093"></a>00093 <span class="comment"> * SO(2) logarithm is used for the rotation components, but the translation is left unmodified.</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a><a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a9ee7ef37d9fd2b029bda21b8708c57e0">00095</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1_s_e__traits_3_012_01_4.html#a9ee7ef37d9fd2b029bda21b8708c57e0" title="A pseudo-Logarithm map in SE(2), where the output = [X,Y, Ln(ROT)], that is, the normal SO(2) logarit...">pseudo_ln</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &P, <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html" title="A partial specialization of CArrayNumeric for double numbers.">array_t</a> &x) { ln(P,x); }
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Return one or both of the following 3x3 Jacobians, useful in graph-slam problems:</span>
<a name="l00098"></a>00098 <span class="comment"> * \f[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_1} \f]</span>
<a name="l00099"></a>00099 <span class="comment"> * \f[ \frac{\partial pseudoLn(P_1 D P_2^{-1}) }{\partial \epsilon_2} \f]</span>
<a name="l00100"></a>00100 <span class="comment"> * With \f$ \epsilon_1 \f$ and \f$ \epsilon_2 \f$ being increments in the linearized manifold for P1 and P2.</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keyword">static</span> <span class="keywordtype">void</span> jacobian_dP1DP2inv_depsilon(
<a name="l00103"></a>00103 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &P1DP2inv,
<a name="l00104"></a>00104 matrix_VxV_t *df_de1,
<a name="l00105"></a>00105 matrix_VxV_t *df_de2);
<a name="l00106"></a>00106
<a name="l00107"></a>00107 }; <span class="comment">// end SE_traits</span>
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00110"></a>00110
<a name="l00111"></a>00111 } <span class="comment">// End of namespace</span>
<a name="l00112"></a>00112 } <span class="comment">// End of namespace</span>
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="preprocessor">#endif</span>
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