Class sym::Pose2¶

template<typename ScalarType> class Pose2¶

Autogenerated C++ implementation of symforce.geo.pose2.Pose2.

Group of two-dimensional rigid body transformations - R2 x SO(2).

The storage space is a complex (real, imag) for rotation followed by a position (x, y).

The tangent space is one angle for rotation followed by two elements for translation in the non-rotated frame.

For Lie group enthusiasts: This class is on the PRODUCT manifold. On this class, the group operations (e.g. compose and between) operate as you’d expect for a Pose or SE(2), but the manifold operations (e.g. retract and local_coordinates) operate on the product manifold SO(2) x R2. This means that:

retract(a, vec) != compose(a, from_tangent(vec))
local_coordinates(a, b) != to_tangent(between(a, b))
There is no hat operator, because from_tangent/to_tangent is not the matrix exp/log

If you need a type that has these properties in symbolic expressions, you should use :class:symforce.geo.unsupported.pose2_se2.Pose2_SE2. There is no runtime equivalent of :class:Pose2_SE2 <symforce.geo.unsupported.pose2_se2.Pose2_SE2>, see the docstring on that class for more information.

Public Types

using Scalar = ScalarType ¶

using Self = Pose2<Scalar>¶

using DataVec = Eigen::Matrix<Scalar, 4, 1>¶

using TangentVec = Eigen::Matrix<Scalar, 3, 1>¶

using SelfJacobian = Eigen::Matrix<Scalar, 3, 3>¶

using Vector2 = Eigen::Matrix<Scalar, 2, 1>¶

Public Functions

inline explicit Pose2(const DataVec &data, const bool normalize = true)¶

Construct from data vec

Parameters:: normalize – Project to the manifold on construction. This ensures numerical stability as this constructor is called after each codegen operation. Constructing from a normalized vector may be faster, e.g. with FromStorage.

inline Pose2()¶

inline const DataVec &Data() const¶

template<typename Derived> inline Pose2(const Rot2<Scalar> &rotation, const Eigen::MatrixBase<Derived> &position)¶

inline Eigen::Transform<Scalar, 2, Eigen::TransformTraits::Isometry> ToTransform() const¶

inline sym::Rot2<Scalar> Rotation() const¶

const Vector2 RotationStorage() const¶: Returns the rotational component of this pose.

const Vector2 Position() const¶: Returns the positional component of this pose.

const Vector2 ComposeWithPoint(const Vector2 &right) const¶: Left-multiply with a compatible quantity.

const Vector2 InverseCompose(const Vector2 &point) const¶

Returns self.inverse() * point

This is more efficient than calling the generated inverse and compose methods separately, if doing this for one point.

const Eigen::Matrix<Scalar, 3, 3> ToHomogenousMatrix() const¶

A matrix representation of this element in the Euclidean space that contains it.

Returns: 3x3 Matrix

inline void ToStorage(Scalar *const vec) const¶

inline Self Inverse() const¶

inline Self Compose(const Self &b) const¶

inline Vector2 Compose(const Vector2 &point) const¶

inline Self Between(const Self &b) const¶

inline Self InverseWithJacobian(SelfJacobian *const res_D_a = nullptr) const¶

inline Self ComposeWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const¶

inline Self BetweenWithJacobians(const Self &b, SelfJacobian *const res_D_a = nullptr, SelfJacobian *const res_D_b = nullptr) const¶

template<typename Other> inline auto operator*(const Other &b) const -> decltype(Compose(b))¶

inline TangentVec ToTangent(const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶

inline Self Retract(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶

inline TangentVec LocalCoordinates(const Self &b, const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶

inline Self Interpolate(const Self b, const Scalar alpha, const Scalar epsilon = kDefaultEpsilon<Scalar>) const¶

inline bool IsApprox(const Self &b, const Scalar tol) const¶

template<typename ToScalar> inline Pose2<ToScalar> Cast() const¶

inline bool operator==(const Pose2 &rhs) const¶

inline bool operator!=(const Pose2 &rhs) const¶

Public Static Functions

template<typename Generator> static inline Pose2 Random(Generator &gen)¶

static inline constexpr int32_t StorageDim()¶

static inline Pose2 FromStorage(const Scalar *const vec)¶

static inline Self Identity()¶

static inline constexpr int32_t TangentDim()¶

static inline Self FromTangent(const TangentVec &vec, const Scalar epsilon = kDefaultEpsilon<Scalar>)¶