Program Listing for File SO2Tangent_base.h

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#ifndef _MANIF_MANIF_SO2TANGENT_BASE_H_
#define _MANIF_MANIF_SO2TANGENT_BASE_H_

#include "manif/impl/so2/SO2_properties.h"
#include "manif/impl/tangent_base.h"

namespace manif {

//
// Tangent
//

template <typename _Derived>
struct SO2TangentBase : TangentBase<_Derived>
{
private:

  using Base = TangentBase<_Derived>;
  using Type = SO2TangentBase<_Derived>;

public:

  MANIF_TANGENT_TYPEDEF
  MANIF_INHERIT_TANGENT_OPERATOR

  using Base::coeffs;

protected:

  using Base::derived;

  MANIF_DEFAULT_CONSTRUCTOR(SO2TangentBase)

public:

  MANIF_TANGENT_ML_ASSIGN_OP(SO2TangentBase)

  // Tangent common API


  LieAlg hat() const;

  LieGroup exp(OptJacobianRef J_m_t = {}) const;

  MANIF_DEPRECATED
  LieGroup retract(OptJacobianRef J_m_t = {}) const;

  Jacobian rjac() const;

  Jacobian ljac() const;

  Jacobian rjacinv() const;

  Jacobian ljacinv() const;

  Jacobian smallAdj() const;

  // SO2Tangent specific API

  //const Scalar& angle() const;

  Scalar angle() const;
};

template <typename _Derived>
typename SO2TangentBase<_Derived>::LieGroup
SO2TangentBase<_Derived>::exp(OptJacobianRef J_m_t) const
{
  using std::cos;
  using std::sin;

  if (J_m_t)
  {
    (*J_m_t) = rjac();
  }

  return LieGroup(cos(angle()), sin(angle()));
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::LieGroup
SO2TangentBase<_Derived>::retract(OptJacobianRef J_m_t) const
{
  return exp(J_m_t);
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::LieAlg
SO2TangentBase<_Derived>::hat() const
{
  return (LieAlg() <<
    Scalar(0)      , Scalar(-angle()),
    Scalar(angle()), Scalar(0)        ).finished();
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Jacobian
SO2TangentBase<_Derived>::rjac() const
{
  static const Jacobian Jr = Jacobian::Constant(Scalar(1));
  return Jr;
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Jacobian
SO2TangentBase<_Derived>::ljac() const
{
  static const Jacobian Jl = Jacobian::Constant(Scalar(1));
  return Jl;
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Jacobian
SO2TangentBase<_Derived>::rjacinv() const
{
  return rjac();
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Jacobian
SO2TangentBase<_Derived>::ljacinv() const
{
  return ljac();
}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Jacobian
SO2TangentBase<_Derived>::smallAdj() const
{
  static const Jacobian smallAdj = Jacobian::Zero();
  return smallAdj;
}

// SO2Tangent specific API

//template <typename _Derived>
//const typename SO2TangentBase<_Derived>::Scalar&
//SO2TangentBase<_Derived>::angle() const
//{
//  return coeffs().x();
//}

template <typename _Derived>
typename SO2TangentBase<_Derived>::Scalar
SO2TangentBase<_Derived>::angle() const
{
  return coeffs()(0);
}

namespace internal {

template <typename Derived>
struct GeneratorEvaluator<SO2TangentBase<Derived>>
{
  static typename SO2TangentBase<Derived>::LieAlg
  run(const unsigned int i)
  {
    MANIF_CHECK(i==0,
                "Index i must be 0!",
                invalid_argument);

    const static typename SO2TangentBase<Derived>::LieAlg E0 =
        skew(typename SO2TangentBase<Derived>::Scalar(1));

    return E0;
  }
};

template <typename Derived>
struct RandomEvaluatorImpl<SO2TangentBase<Derived>>
{
  static void run(SO2TangentBase<Derived>& m)
  {
    // in [-1,1]  /  in [-PI,PI]
    m.coeffs().setRandom() *= MANIF_PI;
  }
};

template <typename Derived>
struct VeeEvaluatorImpl<SO2TangentBase<Derived>> {
  template <typename TL, typename TR>
  static void run(TL& t, const TR& v) {
    t.coeffs() << v(1, 0);
  }
};

} /* namespace internal */
} /* namespace manif */

#endif /* _MANIF_MANIF_SO2_BASE_H_ */