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Fixed log operator (and added ==) for Sim3 #54

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Fixed log operator (and added ==) for Sim3 #54

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12 changes: 10 additions & 2 deletions minkindr/include/kindr/minimal/implementation/quat-sim-transform-inl.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
#ifndef KINDR_MINIMAL_IMPLEMENTATION_QUAT_SIM_TRANSFORM_INL_H_
#define KINDR_MINIMAL_IMPLEMENTATION_QUAT_SIM_TRANSFORM_INL_H_

#include <cmath>

#include <glog/logging.h>

namespace kindr {
Expand All @@ -20,10 +22,16 @@ template <typename Scalar>
QuatSimTransformTemplate<Scalar>::QuatSimTransformTemplate(
const Vector7& log_vector)
: T_A_B_(Eigen::Matrix<Scalar, 6, 1>(log_vector.template head<6>())),
scale_A_B_(log_vector(6)) {
scale_A_B_(::exp(log_vector(6))) {
CHECK_GT(scale_A_B_, 0.);
}

template <typename Scalar>
bool QuatSimTransformTemplate<Scalar>::operator==(
const QuatSimTransformTemplate<Scalar>& other) const {
return T_A_B_ == other.T_A_B_ && scale_A_B_ == other.scale_A_B_;
}

template <typename Scalar>
typename QuatSimTransformTemplate<Scalar>::Vector3
QuatSimTransformTemplate<Scalar>::operator*(const Vector3& rhs) const {
Expand Down Expand Up @@ -69,7 +77,7 @@ template <typename Scalar>
inline Eigen::Matrix<Scalar, 7, 1>
QuatSimTransformTemplate<Scalar>::log() const {
Eigen::Matrix<Scalar, 7, 1> result;
result << T_A_B_.log(), scale_A_B_;
result << T_A_B_.log(), ::log(scale_A_B_);
return result;
}

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2 changes: 2 additions & 0 deletions minkindr/include/kindr/minimal/quat-sim-transform.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ class QuatSimTransformTemplate {

QuatSimTransformTemplate(const Vector7& log_vector);

inline bool operator==(const QuatSimTransformTemplate<Scalar>& other) const;

inline Vector3 operator*(const Vector3& rhs) const;

// Vectorized, applies operator * to each column vector.
Expand Down