cv_core

Trait Pose

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pub trait Pose:
    From<IsometryMatrix3<f64>>
    + Clone
    + Copy {
    type InputPoint: Projective;
    type OutputPoint: Projective;
    type Inverse: Pose;

    // Required method
    fn isometry(self) -> IsometryMatrix3<f64>;

    // Provided methods
    fn identity() -> Self { ... }
    fn inverse(self) -> Self::Inverse { ... }
    fn scale(self, scale: f64) -> Self { ... }
    fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self { ... }
    fn homogeneous(self) -> Matrix4<f64> { ... }
    fn se3(self) -> Vector6<f64> { ... }
    fn from_se3(se3: Vector6<f64>) -> Self { ... }
    fn transform_jacobians(
        self,
        input: Self::InputPoint,
    ) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>) { ... }
    fn transform_jacobian_input(
        self,
        input: Self::InputPoint,
    ) -> (Self::OutputPoint, Matrix4<f64>) { ... }
    fn transform_jacobian_self(
        self,
        input: Self::InputPoint,
    ) -> (Self::OutputPoint, Matrix4x6<f64>) { ... }
    fn transform(self, input: Self::InputPoint) -> Self::OutputPoint { ... }
}
Expand description

This trait is implemented by all the different poses in this library:

Required Associated Types§

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type InputPoint: Projective

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type OutputPoint: Projective

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type Inverse: Pose

Required Methods§

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fn isometry(self) -> IsometryMatrix3<f64>

Retrieve the isometry.

Provided Methods§

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fn identity() -> Self

Creates a pose with no change in position or orientation.

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fn inverse(self) -> Self::Inverse

Takes the inverse of the pose.

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fn scale(self, scale: f64) -> Self

Applies a scale factor to the pose (scales the translation component)

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fn from_parts(translation: Vector3<f64>, rotation: Rotation3<f64>) -> Self

Create the pose from rotation and translation.

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fn homogeneous(self) -> Matrix4<f64>

Retrieve the homogeneous matrix.

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fn se3(self) -> Vector6<f64>

Retrieve the se(3) representation of the pose.

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fn from_se3(se3: Vector6<f64>) -> Self

Set the se(3) representation of the pose.

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fn transform_jacobians( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4<f64>, Matrix4x6<f64>)

Transform the given point to an output point, while also retrieving both Jacobians.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
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fn transform_jacobian_input( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4<f64>)

Transform the given point to an output point, while also retrieving the input Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point
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fn transform_jacobian_self( self, input: Self::InputPoint, ) -> (Self::OutputPoint, Matrix4x6<f64>)

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
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fn transform(self, input: Self::InputPoint) -> Self::OutputPoint

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§