Detailed Description

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

Specialization of SE for 2D poses.

See Also: SE_traits

Definition at line 79 of file SE_traits.h.

#include <mrpt/poses/SE_traits.h>

Public Types
enum	{ VECTOR_SIZE = 3 }

typedef CArrayDouble< VECTOR_SIZE >	array_t

typedef CMatrixFixedNumeric < double, VECTOR_SIZE, VECTOR_SIZE >	matrix_VxV_t

typedef CPose2D	pose_t

Static Public Member Functions
static void	exp (const array_t &x, CPose2D &P)
	Exponential map in SE(2)

static void	ln (const CPose2D &P, array_t &x)
	Logarithm map in SE(2)

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.

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.

Member Typedef Documentation

typedef CArrayDouble<VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::array_t

Definition at line 82 of file SE_traits.h.

typedef CMatrixFixedNumeric<double,VECTOR_SIZE,VECTOR_SIZE> mrpt::poses::SE_traits< 2 >::matrix_VxV_t

Definition at line 83 of file SE_traits.h.

typedef CPose2D mrpt::poses::SE_traits< 2 >::pose_t

Definition at line 84 of file SE_traits.h.

Member Enumeration Documentation

anonymous enum

Enumerator
VECTOR_SIZE

Definition at line 81 of file SE_traits.h.

Member Function Documentation

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

inlinestatic

Exponential map in SE(2)

Definition at line 87 of file SE_traits.h.

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

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.

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

inlinestatic

Logarithm map in SE(2)

Definition at line 90 of file SE_traits.h.

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

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 95 of file SE_traits.h.

Detailed Description

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

Public Types

Static Public Member Functions

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

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