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add logmap_SO2 #43

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merged 2 commits into from May 23, 2021
Merged

add logmap_SO2 #43

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8d4cf9a
add logmap_SO2
dehann May 23, 2021
0d2e2ce
bump v0.2.10
dehann May 23, 2021
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2 changes: 1 addition & 1 deletion Project.toml
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Expand Up @@ -2,7 +2,7 @@ name = "TransformUtils"
uuid = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
keywords = ["coordinates", "reference frames", "SE2", "SO3", "quaternion", "robotics", "navigation"]
desc = "Handy coordinate transformation tools between various conventions."
version = "0.2.9"
version = "0.2.10"

[deps]
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
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7 changes: 7 additions & 0 deletions src/TransformUtils.jl
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Expand Up @@ -38,6 +38,7 @@ export
rotate,
wrapRad,
logmap,
logmap_SO2,
rightJacExmap,
rightJacExmapinv,
deltaso3vee,
Expand Down Expand Up @@ -728,6 +729,12 @@ end



# manifold distance, add, and subtract
function logmap_SO2(Rl::Matrix{<:Real})
ct = abs(Rl[1,1]) > 1.0 ? 1.0 : Rl[1,1] # reinserting the sign below
-sign(Rl[2,1])*acos(ct)
end

function wrapRad(th::Real)
#rem is not the best function here so using rem2pi(x, RoundNearest) returns in interval [-π, π]
#TODO is [-π, π] a problem or should it strictly be [-pi, pi)
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