23#include <gtsam/geometry/Unit3.h>
61 : n_(vec(0), vec(1), vec(2)), d_(vec(3)) {}
74 void print(
const std::string& s = std::string())
const;
78 return (n_.
equals(s.n_, tol) && (std::abs(d_ - s.d_) < tol));
105 inline static size_t Dim() {
110 inline size_t dim()
const {
124 return Vector4(unit_vec[0], unit_vec[1], unit_vec[2], d_);
129 if (H) *H << I_2x2, Z_2x1;
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
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
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
Definition OrientedPlane3.h:36
OrientedPlane3(double a, double b, double c, double d)
Construct from four numbers of plane coeffcients (a, b, c, d)
Definition OrientedPlane3.h:64
Vector4 planeCoefficients() const
Returns the plane coefficients.
Definition OrientedPlane3.h:122
OrientedPlane3(const Unit3 &n, double d)
Construct from a Unit3 and a distance.
Definition OrientedPlane3.h:55
size_t dim() const
Dimensionality of tangent space = 3 DOF.
Definition OrientedPlane3.h:110
bool equals(const OrientedPlane3 &s, double tol=1e-9) const
The equals function with tolerance.
Definition OrientedPlane3.h:77
OrientedPlane3(const Vector4 &vec)
Construct from a vector of plane coefficients.
Definition OrientedPlane3.h:60
static size_t Dim()
Dimensionality of tangent space = 3 DOF.
Definition OrientedPlane3.h:105
OrientedPlane3()
Default constructor.
Definition OrientedPlane3.h:50
double distance(OptionalJacobian< 1, 3 > H=boost::none) const
Return the perpendicular distance to the origin.
Definition OrientedPlane3.h:134
Unit3 normal(OptionalJacobian< 2, 3 > H=boost::none) const
Return the normal.
Definition OrientedPlane3.h:128
A 3D pose (R,t) : (Rot3,Point3)
Definition Pose3.h:37
Represents a 3D point on a unit sphere.
Definition Unit3.h:43
Vector3 unitVector(OptionalJacobian< 3, 2 > H=boost::none) const
Return unit-norm Vector.
Definition Unit3.cpp:151
bool equals(const Unit3 &s, double tol=1e-9) const
The equals function with tolerance.
Definition Unit3.h:115