/*---------------------------------------------------------------
jacobiansPoseComposition
---------------------------------------------------------------*/
void CPosePDF::jacobiansPoseComposition(
const CPose2D &x,
const CPose2D &u,
CMatrixDouble33 &df_dx,
CMatrixDouble33 &df_du,
const bool compute_df_dx,
const bool compute_df_du )
{
const double spx = sin(x.phi());
const double cpx = cos(x.phi());
if (compute_df_dx)
{
/*
df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
*/
df_dx.unit(3,1.0);
const double xu = u.x();
const double yu = u.y();
df_dx.get_unsafe(0,2) = -spx*xu-cpx*yu;
df_dx.get_unsafe(1,2) = cpx*xu-spx*yu;
}
if (compute_df_du)
{
/*
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]
*/
// This is the homogeneous matrix of "x":
df_du.get_unsafe(0,2) =
df_du.get_unsafe(1,2) =
df_du.get_unsafe(2,0) =
df_du.get_unsafe(2,1) = 0;
df_du.get_unsafe(2,2) = 1;
df_du.get_unsafe(0,0) = cpx;
df_du.get_unsafe(0,1) = -spx;
df_du.get_unsafe(1,0) = spx;
df_du.get_unsafe(1,1) = cpx;
}
}
