mrpt::poses::SE_traits< 2 > Struct Reference

Detailed Description

Specialization of SE for 2D poses.

See also

SE_traits

Definition at line 81 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: More...

Static Public Attributes
constexpr static 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 84 of file SE_traits.h.

lightweight_pose_t

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

Definition at line 88 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 86 of file SE_traits.h.

point_t

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

Definition at line 89 of file SE_traits.h.

pose_t

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

Definition at line 87 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 92 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 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:

With and 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 102 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 100 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 114 of file SE_traits.h.

Member Data Documentation

VECTOR_SIZE

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

staticconstexpr

Definition at line 83 of file SE_traits.h.