Manifold.h File Reference

Base class and basic functions for Manifold types. More...

Go to the source code of this file.

Classes
struct	gtsam::manifold_tag
	tag to assert a type is a manifold More...
struct	gtsam::traits< T >
	A manifold defines a space in which there is a notion of a linear tangent space that can be centered around a given point on the manifold. More...
struct	gtsam::internal::HasManifoldPrereqs< Class >
	Requirements on type to pass it to Manifold template below. More...
struct	gtsam::internal::ManifoldImpl< Class, N >
	Extra manifold traits for fixed-dimension types. More...
struct	gtsam::internal::ManifoldImpl< Class, Eigen::Dynamic >
	Extra manifold traits for variable-dimension types. More...
struct	gtsam::internal::ManifoldTraits< Class >
	A helper that implements the traits interface for GTSAM manifolds. More...
struct	gtsam::internal::Manifold< Class >
	Both ManifoldTraits and Testable. More...
struct	gtsam::FixedDimension< T >
	Give fixed size dimension of a type, fails at compile time if dynamic. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_MANIFOLD_INST(T)   template class gtsam::IsManifold<T>;
	Macros for using the ManifoldConcept. More...
#define	GTSAM_CONCEPT_MANIFOLD_TYPE(T)   typedef gtsam::IsManifold<T> _gtsam_IsManifold_##T;

Functions
template<typename T >
	gtsam::BOOST_CONCEPT_REQUIRES (((IsTestable< T >)),(bool)) check_manifold_invariants(const T &a
	Check invariants for Manifold type.

Detailed Description

Base class and basic functions for Manifold types.

Author

Alex Cunningham

Frank Dellaert

Mike Bosse

Macro Definition Documentation

GTSAM_CONCEPT_MANIFOLD_INST

#define GTSAM_CONCEPT_MANIFOLD_INST

(

T

)

template class gtsam::IsManifold<T>;

Macros for using the ManifoldConcept.

• An instantiation for use inside unit tests
• A typedef for use inside generic algorithms

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable