gtsam::LieGroup< Class, N > Struct Template Reference

Detailed Description

template<class Class, int N>
struct gtsam::LieGroup< Class, N >

A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf.

Public Member Functions
	BOOST_STATIC_ASSERT_MSG (N !=Eigen::Dynamic, "LieGroup not yet specialized for dynamically sized types.")
const Class &	derived () const
Class	compose (const Class &g) const
Class	between (const Class &g) const
Class	compose (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
Class	between (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
Class	inverse (ChartJacobian H) const
Class	expmap (const TangentVector &v) const
	expmap as required by manifold concept Applies exponential map to v and composes with *this
TangentVector	logmap (const Class &g) const
	logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
Class	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	expmap with optional derivatives
TangentVector	logmap (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	logmap with optional derivatives
Class	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this
TangentVector	localCoordinates (const Class &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g
Class	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
	retract with optional derivatives
TangentVector	localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
	localCoordinates with optional derivatives

Static Public Member Functions
static Class	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity.
static TangentVector	LocalCoordinates (const Class &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity.
static Class	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative.
static TangentVector	LocalCoordinates (const Class &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative.

Public Types
enum	{ dimension = N }
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian
typedef Eigen::Matrix< double, N, 1 >	TangentVector

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The documentation for this struct was generated from the following file:

• /Users/dellaert/git/gtsam/gtsam/base/Lie.h