1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeRot2.cpp
* @brief Time Rot2 geometry
* @author Richard Roberts
*/
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/timing.h>
#include <iostream>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
#define TEST(TITLE,STATEMENT) \
gttic_(TITLE); \
for(int i = 0; i < n; i++) \
STATEMENT; \
gttoc_(TITLE);
/* ************************************************************************* */
Rot2 Rot2betweenDefault(const Rot2& r1, const Rot2& r2) {
return r1.inverse() * r2;
}
/* ************************************************************************* */
Rot2 Rot2betweenOptimized(const Rot2& r1, const Rot2& r2) {
// Same as compose but sign of sin for r1 is reversed
return Rot2::fromCosSin(r1.c() * r2.c() + r1.s() * r2.s(), -r1.s() * r2.c() + r1.c() * r2.s());
}
/* ************************************************************************* */
Vector Rot2BetweenFactorEvaluateErrorDefault(const Rot2& measured, const Rot2& p1, const Rot2& p2,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2)
{
Rot2 hx = p1.between(p2, H1, H2); // h(x)
// manifold equivalent of h(x)-z -> log(z,h(x))
return measured.localCoordinates(hx);
}
/* ************************************************************************* */
Vector Rot2BetweenFactorEvaluateErrorOptimizedBetween(const Rot2& measured, const Rot2& p1, const Rot2& p2,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2)
{
Rot2 hx = Rot2betweenOptimized(p1, p2); // h(x)
if (H1) *H1 = -I_1x1;
if (H2) *H2 = I_1x1;
// manifold equivalent of h(x)-z -> log(z,h(x))
return Rot2::Logmap(Rot2betweenOptimized(measured, hx));
}
/* ************************************************************************* */
Vector Rot2BetweenFactorEvaluateErrorOptimizedBetweenNoeye(const Rot2& measured, const Rot2& p1, const Rot2& p2,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2)
{
// TODO: Implement
Rot2 hx = Rot2betweenOptimized(p1, p2); // h(x)
if (H1) *H1 = -I_1x1;
if (H2) *H2 = I_1x1;
// manifold equivalent of h(x)-z -> log(z,h(x))
return Rot2::Logmap(Rot2betweenOptimized(measured, hx));
}
/* ************************************************************************* */
typedef Eigen::Matrix<double,1,1> Matrix1;
Vector Rot2BetweenFactorEvaluateErrorOptimizedBetweenFixed(const Rot2& measured, const Rot2& p1, const Rot2& p2,
boost::optional<Matrix1&> H1, boost::optional<Matrix1&> H2)
{
// TODO: Implement
Rot2 hx = Rot2betweenOptimized(p1, p2); // h(x)
if (H1) *H1 = -Matrix1::Identity();
if (H2) *H2 = Matrix1::Identity();
// manifold equivalent of h(x)-z -> log(z,h(x))
return Rot2::Logmap(Rot2betweenOptimized(measured, hx));
}
/* ************************************************************************* */
int main()
{
int n = 50000000;
cout << "NOTE: Times are reported for " << n << " calls" << endl;
Vector1 v; v << 0.1;
Rot2 R = Rot2(0.4), R2(0.5), R3(0.6);
TEST(Rot2_Expmap, Rot2::Expmap(v));
TEST(Rot2_Retract, R.retract(v));
TEST(Rot2_Logmap, Rot2::Logmap(R2));
TEST(Rot2_between, R.between(R2));
TEST(betweenDefault, Rot2betweenDefault(R, R2));
TEST(betweenOptimized, Rot2betweenOptimized(R, R2));
TEST(Rot2_localCoordinates, R.localCoordinates(R2));
Matrix H1, H2;
Matrix1 H1f, H2f;
TEST(Rot2BetweenFactorEvaluateErrorDefault, Rot2BetweenFactorEvaluateErrorDefault(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetween, Rot2BetweenFactorEvaluateErrorOptimizedBetween(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetweenNoeye, Rot2BetweenFactorEvaluateErrorOptimizedBetweenNoeye(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetweenFixed, Rot2BetweenFactorEvaluateErrorOptimizedBetweenFixed(R3, R, R2, H1f, H2f));
// Print timings
tictoc_print_();
return 0;
}
|
