saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix documentation source for templated functions in rotation.h

Browse Source 
Change-Id: Ic1b2e6f0e6eb9914f419fd0bb5af77b66252e57c
This commit is contained in:
Sameer Agarwal
2016-10-13 09:52:02 -07:00
parent 2f8f98f7e8
commit 5690b447de
2 changed files with 18 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/nnls_modeling.rst
+17 -17
View File
@@ -1815,7 +1815,7 @@ quaternion and matrix) we provide a handy set of templated
functions. These functions are templated so that the user can use them
within Ceres Solver's automatic differentiation framework.
.. function:: void AngleAxisToQuaternion<T>(T const* angle_axis, T* quaternion)
.. function:: template <typename T> void AngleAxisToQuaternion(T const* angle_axis, T* quaternion)
Convert a value in combined axis-angle representation to a
quaternion.
@@ -1824,7 +1824,7 @@ within Ceres Solver's automatic differentiation framework.
and whose direction is aligned with the axis of rotation, and
``quaternion`` is a 4-tuple that will contain the resulting quaternion.
.. function:: void QuaternionToAngleAxis<T>(T const* quaternion, T* angle_axis)
.. function:: template <typename T> void QuaternionToAngleAxis(T const* quaternion, T* angle_axis)
Convert a quaternion to the equivalent combined axis-angle
representation.
@@ -1834,17 +1834,17 @@ within Ceres Solver's automatic differentiation framework.
whose norm is the angle of rotation in radians, and whose direction
is the axis of rotation.
.. function:: void RotationMatrixToAngleAxis<T, row_stride, col_stride>(const MatrixAdapter<const T, row_stride, col_stride>& R, T * angle_axis)
.. function:: void AngleAxisToRotationMatrix<T, row_stride, col_stride>(T const * angle_axis, const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: void RotationMatrixToAngleAxis<T>(T const * R, T * angle_axis)
.. function:: void AngleAxisToRotationMatrix<T>(T const * angle_axis, T * R)
.. function:: template <typename T, int row_stride, int col_stride> void RotationMatrixToAngleAxis(const MatrixAdapter<const T, row_stride, col_stride>& R, T * angle_axis)
.. function:: template <typename T, int row_stride, int col_stride> void AngleAxisToRotationMatrix(T const * angle_axis, const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: template <typename T> void RotationMatrixToAngleAxis(T const * R, T * angle_axis)
.. function:: template <typename T> void AngleAxisToRotationMatrix(T const * angle_axis, T * R)
Conversions between 3x3 rotation matrix with given column and row strides and
axis-angle rotation representations. The functions that take a pointer to T instead
of a MatrixAdapter assume a column major representation with unit row stride and a column stride of 3.
.. function:: void EulerAnglesToRotationMatrix<T, row_stride, col_stride>(const T* euler, const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: void EulerAnglesToRotationMatrix<T>(const T* euler, int row_stride, T* R)
.. function:: template <typename T, int row_stride, int col_stride> void EulerAnglesToRotationMatrix(const T* euler, const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: template <typename T> void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R)
Conversions between 3x3 rotation matrix with given column and row strides and
Euler angle (in degrees) rotation representations.
@@ -1857,8 +1857,8 @@ within Ceres Solver's automatic differentiation framework.
major representation with unit column stride and a row stride of 3.
The additional parameter row_stride is required to be 3.
.. function:: void QuaternionToScaledRotation<T, row_stride, col_stride>(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: void QuaternionToScaledRotation<T>(const T q[4], T R[3 * 3])
.. function:: template <typename T, int row_stride, int col_stride> void QuaternionToScaledRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: template <typename T> void QuaternionToScaledRotation(const T q[4], T R[3 * 3])
Convert a 4-vector to a 3x3 scaled rotation matrix.
@@ -1887,13 +1887,13 @@ within Ceres Solver's automatic differentiation framework.
such that :math:`\det(Q) = 1` and :math:`Q*Q' = I`.
.. function:: void QuaternionToRotation<T>(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: void QuaternionToRotation<T>(const T q[4], T R[3 * 3])
.. function:: template <typename T> void QuaternionToRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
.. function:: template <typename T> void QuaternionToRotation(const T q[4], T R[3 * 3])
Same as above except that the rotation matrix is normalized by the
Frobenius norm, so that :math:`R R' = I` (and :math:`\det(R) = 1`).
.. function:: void UnitQuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3])
.. function:: template <typename T> void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
Rotates a point pt by a quaternion q:
@@ -1904,23 +1904,23 @@ within Ceres Solver's automatic differentiation framework.
result you get for a unit quaternion.
.. function:: void QuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3])
.. function:: template <typename T> void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
With this function you do not need to assume that :math:`q` has unit norm.
It does assume that the norm is non-zero.
.. function:: void QuaternionProduct<T>(const T z[4], const T w[4], T zw[4])
.. function:: template <typename T> void QuaternionProduct(const T z[4], const T w[4], T zw[4])
.. math:: zw = z * w
where :math:`*` is the Quaternion product between 4-vectors.
.. function:: void CrossProduct<T>(const T x[3], const T y[3], T x_cross_y[3])
.. function:: template <typename T> void CrossProduct(const T x[3], const T y[3], T x_cross_y[3])
.. math:: \text{x_cross_y} = x \times y
.. function:: void AngleAxisRotatePoint<T>(const T angle_axis[3], const T pt[3], T result[3])
.. function:: template <typename T> void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3])
.. math:: y = R(\text{angle_axis}) x
docs/source/version_history.rst
+1
View File
@@ -30,6 +30,7 @@ Backward Incompatible API Changes
Bug Fixes & Minor Changes
-------------------------
#. Fix documentation source for templated function in ``rotation.h``.
#. Add ``package.xml`` to enable Catkin builds. (Damon Kohler)
#. Relaxing Jacobian matching in Gradient Checker test. (David Gossow)
#. Allow SubsetParameterization to hold all parameters constant