A collection of functions to compute jacobians of diverse transformations, etc (some functions are redirections to existing methods elsewhere, so this namespace is actually used with grouping purposes).
Since most functions in this namespace are inline, their use implies no execution time overload and the code may be more clear to read, so it's recommended to use them where needed.
Functions | |
void | jacob_quat_from_yawpitchroll (CMatrixFixedNumeric< double, 4, 3 > &out_dq_dr, const double yaw, const double pitch, const double roll) |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
| |
void | jacob_quat_from_yawpitchroll (CMatrixFixedNumeric< double, 4, 3 > &out_dq_dr, const CPose3D &in_pose) |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
| |
void | jacob_yawpitchroll_from_quat (CMatrixFixedNumeric< double, 3, 4 > &out_dr_dq) |
Computes the 3x4 Jacobian of the transformation from a quaternion (qr qx qy qz) to 3D pose angles (yaw pitch roll). | |
template<class QUATERNION , class MATRIXLIKE > | |
void | jacob_quat_rotation (const QUATERNION &quaternion, MATRIXLIKE &out_mat4x4) |
Compute the Jacobian of the rotation composition operation ![]() ![]() | |
void | jacobs_6D_pose_comp (const CPose3D &x, const CPose3D &u, CMatrixDouble66 &out_df_dx, CMatrixDouble66 &out_df_du) |
Given the 3D(6D) pose composition ![]() ![]() ![]() | |
void | jacobs_2D_pose_comp (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &out_df_dx, CMatrixDouble33 &out_df_du) |
Given the 2D pose composition ![]() ![]() ![]() | |
template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > | |
void | jacob_numeric_estimate (const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian) |
Numerical estimation of the Jacobian of a user-supplied function - this template redirects to mrpt::math::estimateJacobian, see that function for documentation. |
void mrpt::math::jacobians::jacob_numeric_estimate | ( | const VECTORLIKE & | x, |
void(*)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out) | functor, | ||
const VECTORLIKE2 & | increments, | ||
const USERPARAM & | userParam, | ||
MATRIXLIKE & | out_Jacobian | ||
) | [inline] |
Numerical estimation of the Jacobian of a user-supplied function - this template redirects to mrpt::math::estimateJacobian, see that function for documentation.
Definition at line 127 of file jacobians.h.
References mrpt::math::estimateJacobian().
Referenced by mrpt::math::transform_gaussian_linear().
void mrpt::math::jacobians::jacob_quat_from_yawpitchroll | ( | CMatrixFixedNumeric< double, 4, 3 > & | out_dq_dr, |
const CPose3D & | in_pose | ||
) | [inline] |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
With : ,
and
.
Definition at line 72 of file jacobians.h.
References mrpt::poses::CPose3D::getAsQuaternion(), and mrpt::math::UNINITIALIZED_QUATERNION.
void mrpt::math::jacobians::jacob_quat_from_yawpitchroll | ( | CMatrixFixedNumeric< double, 4, 3 > & | out_dq_dr, |
const double | yaw, | ||
const double | pitch, | ||
const double | roll | ||
) | [inline] |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
With : ,
and
.
Definition at line 55 of file jacobians.h.
References mrpt::poses::CPose3D::getAsQuaternion(), and mrpt::math::UNINITIALIZED_QUATERNION.
void mrpt::math::jacobians::jacob_quat_rotation | ( | const QUATERNION & | quaternion, |
MATRIXLIKE & | out_mat4x4 | ||
) | [inline] |
Compute the Jacobian of the rotation composition operation , that is the 4x4 matrix
.
The output matrix can be a dynamic or fixed size (4x4) matrix. The input quaternion can be mrpt::math::CQuaternionFloat or mrpt::math::CQuaternionDouble.
Definition at line 96 of file jacobians.h.
void mrpt::math::jacobians::jacob_yawpitchroll_from_quat | ( | CMatrixFixedNumeric< double, 3, 4 > & | out_dr_dq | ) | [inline] |
Computes the 3x4 Jacobian of the transformation from a quaternion (qr qx qy qz) to 3D pose angles (yaw pitch roll).
Definition at line 85 of file jacobians.h.
References THROW_EXCEPTION.
void mrpt::math::jacobians::jacobs_2D_pose_comp | ( | const CPosePDFGaussian & | x, |
const CPosePDFGaussian & | u, | ||
CMatrixDouble33 & | out_df_dx, | ||
CMatrixDouble33 & | out_df_du | ||
) | [inline] |
Given the 2D pose composition , compute the two 3x3 Jacobians
and
.
For the equations, see CPosePDFGaussian::jacobiansPoseComposition
Definition at line 116 of file jacobians.h.
References mrpt::poses::CPosePDFGaussian::jacobiansPoseComposition().
void mrpt::math::jacobians::jacobs_6D_pose_comp | ( | const CPose3D & | x, |
const CPose3D & | u, | ||
CMatrixDouble66 & | out_df_dx, | ||
CMatrixDouble66 & | out_df_du | ||
) | [inline] |
Given the 3D(6D) pose composition , compute the two 6x6 Jacobians
and
.
For the equations, see CPose3DPDFGaussian::jacobiansPoseComposition
Definition at line 104 of file jacobians.h.
References mrpt::poses::CPose3DPDFGaussian::jacobiansPoseComposition().
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