22#include <gtsam/dllexport.h>
39 typedef Point2 Translation;
61 Similarity2(
const Matrix2& R,
const Vector2& t,
double s);
77 void print(
const std::string& s)
const;
79 friend std::ostream& operator<<(std::ostream& os,
const Similarity2& p);
120 static Similarity2 Align(
const Point2Pairs& abPointPairs);
135 static Similarity2 Align(
const Pose2Pairs& abPosePairs);
165 Matrix4 AdjointMap()
const;
174 Matrix3 matrix()
const;
186 inline static size_t Dim() {
return 4; }
189 inline size_t dim()
const {
return 4; }
Base class and basic functions for Manifold types.
Base class and basic functions for Lie types.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
Point2 operator*(double s, const Point2 &p)
multiply with scalar
Definition: Point2.h:47
Vector2 Point2
As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point2 to Vector2...
Definition: Point2.h:27
bool operator==(const Matrix &A, const Matrix &B)
equality is just equal_with_abs_tol 1e-9
Definition: Matrix.h:100
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A CRTP helper class that implements Lie group methods Prerequisites: methods operator*,...
Definition: Lie.h:37
Both LieGroupTraits and Testable.
Definition: Lie.h:229
OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size o...
Definition: OptionalJacobian.h:41
Template to create a binary predicate.
Definition: Testable.h:111
A 2D pose (Point2,Rot2)
Definition: Pose2.h:36
Rotation matrix NOTE: the angle theta is in radians unless explicitly stated.
Definition: Rot2.h:36
2D similarity transform
Definition: Similarity2.h:35
Point2 translation() const
Return a GTSAM translation.
Definition: Similarity2.h:180
double scale() const
Return the scale.
Definition: Similarity2.h:183
static Similarity2 Expmap(const Vector4 &v, OptionalJacobian< 4, 4 > Hm=boost::none)
Exponential map at the identity.
Definition: Similarity2.cpp:214
static size_t Dim()
Dimensionality of tangent space = 4 DOF - used to autodetect sizes.
Definition: Similarity2.h:186
static Vector4 Logmap(const Similarity2 &S, OptionalJacobian< 4, 4 > Hm=boost::none)
Log map at the identity .
Definition: Similarity2.cpp:201
Rot2 rotation() const
Return a GTSAM rotation.
Definition: Similarity2.h:177
size_t dim() const
Dimensionality of tangent space = 4 DOF.
Definition: Similarity2.h:189
Chart at the origin.
Definition: Similarity2.h:153