MatrixLieGroup.h File Reference

Base class and basic functions for Matrix Lie groups. More...

Go to the source code of this file.

Classes
struct	gtsam::MatrixLieGroup< Class, D, N >
	A CRTP helper class that implements matrix Lie group methods. More...
struct	gtsam::internal::MatrixLieGroupTraits< Class, N >
	Adds MatrixLieGroup methods to LieGroupTraits. More...
struct	gtsam::internal::MatrixLieGroup< Class, N >
	Both LieGroupTraits and Testable. More...
class	gtsam::IsMatrixLieGroup< T >
	Matrix Lie Group Concept. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_MATRIX_LIE_GROUP_INST(T)
	Macros for using the IsMatrixLieGroup.
#define	GTSAM_CONCEPT_MATRIX_LIE_GROUP_TYPE(T)

Functions
constexpr int	gtsam::internal::product (int a, int b)
template<class Class, int D, int N>
auto	gtsam::internal::computeVectorizedGenerators ()
template<class T>
T	gtsam::BCH (const T &X, const T &Y)
	Three term approximation of the Baker-Campbell-Hausdorff formula In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y.
template<class T>
T	gtsam::expm (const Vector &x, int K=7)
	Exponential map given exponential coordinates class T needs a constructor from Matrix.

Detailed Description

Base class and basic functions for Matrix Lie groups.

Author

Frank Dellaert

Macro Definition Documentation

GTSAM_CONCEPT_MATRIX_LIE_GROUP_INST

#define GTSAM_CONCEPT_MATRIX_LIE_GROUP_INST

(

T

)

Value:

template class gtsam::IsMatrixLieGroup<T>;

Macros for using the IsMatrixLieGroup.

• 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

GTSAM_CONCEPT_MATRIX_LIE_GROUP_TYPE

#define GTSAM_CONCEPT_MATRIX_LIE_GROUP_TYPE

(

T

)

Value:

using _gtsam_IsMatrixLieGroup_##T = gtsam::IsMatrixLieGroup<T>;