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expressions.h File Reference

Common expressions for solving geometry/slam/sfm problems. More...

Go to the source code of this file.

## Namespaces

namespace | gtsam
| Global functions in a separate testing namespace.

## Typedefs

typedef Expression< Point2 > | gtsam::Point2_
typedef Expression< Rot2 > | gtsam::Rot2_
typedef Expression< Pose2 > | gtsam::Pose2_
typedef Expression< Point3 > | gtsam::Point3_
typedef Expression< Unit3 > | gtsam::Unit3_
typedef Expression< Rot3 > | gtsam::Rot3_
typedef Expression< Pose3 > | gtsam::Pose3_
typedef Expression< Line3 > | gtsam::Line3_
typedef Expression< OrientedPlane3 > | gtsam::OrientedPlane3_
typedef Expression< Cal3_S2 > | gtsam::Cal3_S2_
typedef Expression< Cal3Bundler > | gtsam::Cal3Bundler_

## Functions

Point2_ | gtsam::transformTo (const Pose2_ &x, const Point2_ &p)
Double_ | gtsam::range (const Point2_ &p, const Point2_ &q)
Point3_ | gtsam::transformTo (const Pose3_ &x, const Point3_ &p)
Point3_ | gtsam::transformFrom (const Pose3_ &x, const Point3_ &p)
Line3_ | gtsam::transformTo (const Pose3_ &wTc, const Line3_ &wL)
Pose3_ | gtsam::transformPoseTo (const Pose3_ &p, const Pose3_ &q)
Point3_ | gtsam::normalize (const Point3_ &a)
Point3_ | gtsam::cross (const Point3_ &a, const Point3_ &b)
Double_ | gtsam::dot (const Point3_ &a, const Point3_ &b)
Rot3 | gtsam::internal::rotation (const Pose3 &pose, OptionalJacobian< 3, 6 > H)
Point3 | gtsam::internal::translation (const Pose3 &pose, OptionalJacobian< 3, 6 > H)
Rot3_ | gtsam::rotation (const Pose3_ &pose)
Point3_ | gtsam::translation (const Pose3_ &pose)
Point3_ | gtsam::rotate (const Rot3_ &x, const Point3_ &p)
Point3_ | gtsam::point3 (const Unit3_ &v)
Unit3_ | gtsam::rotate (const Rot3_ &x, const Unit3_ &p)
Point3_ | gtsam::unrotate (const Rot3_ &x, const Point3_ &p)
Unit3_ | gtsam::unrotate (const Rot3_ &x, const Unit3_ &p)
Double_ | gtsam::distance (const OrientedPlane3_ &p)
Unit3_ | gtsam::normal (const OrientedPlane3_ &p)
Point2_ | gtsam::project (const Point3_ &p_cam)
| Expression version of PinholeBase::Project.
Point2_ | gtsam::project (const Unit3_ &p_cam)
template<class CAMERA, class POINT>
Point2 | gtsam::internal::project4 (const CAMERA &camera, const POINT &p, OptionalJacobian< 2, CAMERA::dimension > Dcam, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint)
template<class CAMERA, class POINT>
Point2_ | gtsam::project2 (const Expression< CAMERA > &camera_, const Expression< POINT > &p_)
template<class CALIBRATION, class POINT>
Point2 | gtsam::internal::project6 (const Pose3 &x, const Point3 &p, const Cal3_S2 &K, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, 5 > Dcal)
template<class CALIBRATION, class POINT>
Point2_ | gtsam::project3 (const Pose3_ &x, const Expression< POINT > &p, const Expression< CALIBRATION > &K)
template<class CALIBRATION>
Point2_ | gtsam::uncalibrate (const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
template<class CALIBRATION>
Pose3_ | gtsam::getPose (const Expression< PinholeCamera< CALIBRATION > > &cam)
template<typename T>
gtsam::Expression< typename gtsam::traits< T >::TangentVector > | gtsam::logmap (const gtsam::Expression< T > &x1, const gtsam::Expression< T > &x2)
| logmap

## Detailed Description

Common expressions for solving geometry/slam/sfm problems.

Date
  Oct 1, 2014

Author
  Frank Dellaert