calico Namespace Reference

Primary calico namespace. More...

Namespaces
	sensors
	Sensors namespace.
	utils
	Utils namespace.

Classes
class	BatchOptimizer
class	BSpline
class	Profiler
class	DefaultSyntheticTest
struct	TrajectoryEvaluationParams
class	Trajectory
class	Pose3
struct	Landmark
struct	RigidBody
class	WorldModel

Typedefs
using	Pose3d = Pose3< double >

Functions
ceres::Solver::Options	DefaultSolverOptions ()
	Default solver options.
template<typename T >
Eigen::Matrix3< T >	Skew (const Eigen::Vector3< T > &v)
	Convert a 3-vector to a skew-symmetric cross-product matrix.
template<typename T >
Eigen::Vector3< T >	iSkew (const Eigen::Matrix3< T > &V)
	Converts a skew symmetric matrix back into a vector.
template<typename T >
T	SmallAngleSin (const T theta)
	Fourth order Taylor expansion of sin(theta).
template<typename T >
T	SmallAngleCos (const T theta)
	Fourth order Taylor expansion of cos(theta).
template<typename T >
Eigen::Matrix3< T >	ExpSO3 (const Eigen::Vector3< T > &phi)
	Convert axis-angle to rotation matrix.
template<typename T >
Eigen::Vector3< T >	LnSO3 (const Eigen::Matrix3< T > &R)
template<typename T >
Eigen::Matrix3< T >	ExpSO3Jacobian (const Eigen::Vector3< T > &phi)
template<typename T >
std::vector< Eigen::Matrix3< T > >	ExpSO3Hessian (const Eigen::Vector3< T > &phi)
template<typename T >
Eigen::Matrix3< T >	ExpSO3JacobianDot (const Eigen::Vector3< T > &phi, const Eigen::Vector3< T > &phi_dot)
	Compute the time derivative of the Rodrigues formula manifold Jacobian.
	MATCHER_P2 (PoseIsApprox, expected_pose, tolerance, "")
	MATCHER_P (PoseEq, expected_pose, "")
	MATCHER_P (EigenEq, expected_vector, "")
	MATCHER_P2 (EigenIsApprox, expected_vector, tolerance, "")
	MATCHER_P (StatusIs, status, "")
	MATCHER_P (StatusCodeIs, status, "")

Variables
constexpr int	kLandmarkFrameId = -1
	Default frame id for a landmark (i.e. World frame).

Detailed Description

Primary calico namespace.

Function Documentation

ExpSO3Hessian()

template<typename T >

std::vector<Eigen::Matrix3<T> > calico::ExpSO3Hessian ( const Eigen::Vector3< T > &  phi )

inline

Compute the manifold Hessian matrix of the Rodrigues formula, i.e.:

\[ \mathbf{R}(\boldsymbol{\Phi}) = \exp\left(\left[\boldsymbol{\Phi}\right]_\times\right) = \mathbf{I} + \frac{\sin(\theta)}{\theta}\left[\boldsymbol{\Phi}\right]_\times + \frac{1-\cos(\theta)}{\theta^2} {\left[\boldsymbol{\Phi}\right]_\times}^2\\ \mathbf{H} = \frac{\partial^2 \exp\left(\left[\boldsymbol{\Phi}\right]_\times\right)} {\partial \boldsymbol{\Phi}^2} \]

ExpSO3Jacobian()

template<typename T >

Eigen::Matrix3<T> calico::ExpSO3Jacobian ( const Eigen::Vector3< T > &  phi )

inline

Compute the manifold Jacobian matrix of the Rodrigues formula, i.e.:

\[ \mathbf{R}\left(\boldsymbol{\Phi}\right) = \exp\left( \mathbf{I} + \frac{\sin(\theta)}{\theta} \left[\boldsymbol{\Phi}\right]_\times + \frac{1 - \cos(\theta)}{\theta^2}{\left[\boldsymbol{\Phi}\right]_\times}^2 \right)\\ \frac{\partial \exp\left(\left[\boldsymbol{\Phi}\right]_\times\right)}{\partial \boldsymbol{\Phi}} = \mathbf{I} + \frac{1-\cos(\theta)}{\theta^2} \left[\boldsymbol{\Phi}\right]_\times + \frac{\theta-\sin(\theta)}{\theta^3} {\left[\boldsymbol{\Phi}\right]_\times}^2\\ \theta = \boldsymbol{\Phi}^T\boldsymbol{\Phi} \]

LnSO3()

template<typename T >

Eigen::Vector3<T> calico::LnSO3 ( const Eigen::Matrix3< T > &  R )

inline

Convert rotation matrix to axis-angle. Algorithm pulled from this page: https://math.stackexchange.com/questions/83874/efficient-and-accurate-numerical-implementation-of-the-inverse-rodrigues-rotatio