/* ************************************************************************* */
Pose2 Pose2betweenOptimized(const Pose2& r1, const Pose2& r2,
boost::optional<Matrix3&> H1, boost::optional<Matrix3&> H2)
{
// get cosines and sines from rotation matrices
const Rot2& R1 = r1.r(), R2 = r2.r();
double c1=R1.c(), s1=R1.s(), c2=R2.c(), s2=R2.s();
// Assert that R1 and R2 are normalized
assert(std::abs(c1*c1 + s1*s1 - 1.0) < 1e-5 && std::abs(c2*c2 + s2*s2 - 1.0) < 1e-5);
// Calculate delta rotation = between(R1,R2)
double c = c1 * c2 + s1 * s2, s = -s1 * c2 + c1 * s2;
Rot2 R(Rot2::atan2(s,c)); // normalizes
// Calculate delta translation = unrotate(R1, dt);
Point2 dt = r2.t() - r1.t();
double x = dt.x(), y = dt.y();
Point2 t(c1 * x + s1 * y, -s1 * x + c1 * y);
// FD: This is just -AdjointMap(between(p2,p1)) inlined and re-using above
if (H1) {
double dt1 = -s2 * x + c2 * y;
double dt2 = -c2 * x - s2 * y;
*H1 = Matrix3();
(*H1) <<
-c, -s, dt1,
s, -c, dt2,
0.0, 0.0,-1.0;
}
if (H2) *H2 = Matrix3::Identity();
return Pose2(R,t);
}
/* ************************************************************************* */
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());
}