Detailed Description

Template to construct the product Lie group of two other Lie groups Assumes Lie group structure for G and H.

Inheritance diagram for gtsam::ProductLieGroup< G, H >:

Group
typedef multiplicative_group_tag	group_flavor

ProductLieGroup	operator * (const ProductLieGroup &other) const

ProductLieGroup	inverse () const

ProductLieGroup	compose (const ProductLieGroup &g) const

ProductLieGroup	between (const ProductLieGroup &g) const

static ProductLieGroup	identity ()

Manifold
enum	{ dimension = dimension1 + dimension2 }

typedef Eigen::Matrix< double, dimension, 1 >	TangentVector

typedef OptionalJacobian< dimension, dimension >	ChartJacobian

size_t	dim () const

ProductLieGroup	retract (const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none) const

TangentVector	localCoordinates (const ProductLieGroup &g, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none) const

static size_t	Dim ()

Lie Group
typedef Eigen::Matrix< double, dimension, dimension >	Jacobian

typedef Eigen::Matrix< double, dimension1, dimension1 >	Jacobian1

typedef Eigen::Matrix< double, dimension2, dimension2 >	Jacobian2

ProductLieGroup	compose (const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2=boost::none) const

ProductLieGroup	between (const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2=boost::none) const

ProductLieGroup	inverse (ChartJacobian D) const

ProductLieGroup	expmap (const TangentVector &v) const

TangentVector	logmap (const ProductLieGroup &g) const

static ProductLieGroup	Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)

static TangentVector	Logmap (const ProductLieGroup &p, ChartJacobian Hp=boost::none)

Public Member Functions
	ProductLieGroup ()
	Default constructor yields identity.

	ProductLieGroup (const G &g, const H &h)

	ProductLieGroup (const Base &base)

Protected Types
enum	{ dimension1 = traits<G>::dimension }

enum	{ dimension2 = traits<H>::dimension }

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

Group