graphslam.pose.r2 module

Representation of a point in \(\mathbb{R}^2\).

class graphslam.pose.r2.PoseR2(position)[source]

Bases: BasePose

A representation of a 2-D point.

Parameters:

position (np.ndarray, list) – The position in \(\mathbb{R}^2\)

COMPACT_DIMENSIONALITY = 2

The compact dimensionality

copy()[source]

Return a copy of the pose.

Returns:

A copy of the pose

Return type:

PoseR2

classmethod identity()[source]

Return the identity pose.

Returns:

The identity pose

Return type:

PoseR2

property inverse

Return the pose’s inverse.

Returns:

The pose’s inverse

Return type:

PoseR2

jacobian_boxplus()[source]

Compute the Jacobian of \(p_1 \boxplus \Delta \mathbf{x}\) w.r.t. \(\Delta \mathbf{x}\) evaluated at \(\Delta \mathbf{x} = \mathbf{0}\).

Returns:

The Jacobian of \(p_1 \boxplus \Delta \mathbf{x}\) w.r.t. \(\Delta \mathbf{x}\) evaluated at \(\Delta \mathbf{x} = \mathbf{0}\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_inverse()[source]

Compute the Jacobian of \(p^{-1}\).

Returns:

The Jacobian of \(p^{-1}\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_ominus_other_wrt_other(other)[source]

Compute the Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_2\).

Parameters:

other (BasePose) – The pose that is being subtracted from self

Returns:

The Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_2\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_ominus_other_wrt_other_compact(other)[source]

Compute the Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_2\).

Parameters:

other (BasePose) – The pose that is being subtracted from self

Returns:

The Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_2\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_ominus_other_wrt_self(other)[source]

Compute the Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_1\).

Parameters:

other (BasePose) – The pose that is being subtracted from self

Returns:

The Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_1\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_ominus_other_wrt_self_compact(other)[source]

Compute the Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_1\).

Parameters:

other (BasePose) – The pose that is being subtracted from self

Returns:

The Jacobian of \(p_1 \ominus p_2\) w.r.t. \(p_1\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_other_wrt_other(other)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\).

Parameters:

other (BasePose) – The pose that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_other_wrt_other_compact(other)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\).

Parameters:

other (BasePose) – The pose that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_other_wrt_self(other)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\).

Parameters:

other (BasePose) – The pose that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_other_wrt_self_compact(other)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\).

Parameters:

other (BasePose) – The pose that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_point_wrt_point(point)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\), where \(p_2\) is a point.

Parameters:

point (PoseR2) – The point that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_2\) (shape: 2 x 2)

Return type:

np.ndarray

jacobian_self_oplus_point_wrt_self(point)[source]

Compute the Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\), where \(p_2\) is a point.

Parameters:

point (PoseR2) – The point that is being added to self

Returns:

The Jacobian of \(p_1 \oplus p_2\) w.r.t. \(p_1\) (shape: 2 x 2)

Return type:

np.ndarray

property orientation

Return the pose’s orientation.

Returns:

A PoseR2 object has no orientation, so this will always return 0.

Return type:

float

property position

Return the pose’s position.

Returns:

The position portion of the pose

Return type:

np.ndarray

to_array()[source]

Return the pose as a numpy array.

Returns:

The pose as a numpy array

Return type:

np.ndarray

to_compact()[source]

Return the pose as a compact numpy array.

Returns:

The pose as a compact numpy array

Return type:

np.ndarray