34GTSAM_EXPORT Line3
transformTo(
const Pose3 &wTc,
const Line3 &wL,
35 OptionalJacobian<4, 6> Dpose = boost::none,
36 OptionalJacobian<4, 4> Dline = boost::none);
50 enum { dimension = 4 };
57 Line3(
const Rot3 &R,
const double a,
const double b) :
58 R_(R), a_(a), b_(b) {}
71 Line3 retract(
const Vector4 &v,
84 Vector4 localCoordinates(
const Line3 &q,
92 void print(
const std::string &s =
"")
const;
100 bool equals(
const Line3 &l2,
double tol = 10e-9)
const;
118 Point3 point(
double distance = 0)
const;
130 inline double a()
const {
137 inline double b()
const {
3D rotation represented as a rotation matrix or quaternion
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
Vector3 Point3
As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point3 to Vector3...
Definition: Point3.h:36
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Transform a line from world to camera frame.
Definition: Line3.cpp:94
Point2_ project(const Point3_ &p_cam)
Expression version of PinholeBase::Project.
Definition: expressions.h:131
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
Both ManifoldTraits and Testable.
Definition: Manifold.h:120
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 3D line (R,a,b) : (Rot3,Scalar,Scalar)
Definition: Line3.h:44
Rot3 R() const
Return the rotation of the line.
Definition: Line3.h:123
Line3()
Default constructor is the Z axis.
Definition: Line3.h:53
Line3(const Rot3 &R, const double a, const double b)
Constructor for general line from (R, a, b)
Definition: Line3.h:57
double b() const
Return the y-coordinate of the intersection of the line with the xy plane.
Definition: Line3.h:137
double a() const
Return the x-coordinate of the intersection of the line with the xy plane.
Definition: Line3.h:130
A 3D pose (R,t) : (Rot3,Point3)
Definition: Pose3.h:37
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
Represents a 3D point on a unit sphere.
Definition: Unit3.h:43