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::internal::HasManifoldPrereqs< Class >
	Requirements on type to pass it to Manifold template below. More...
struct	gtsam::internal::GetDimensionImpl< Class, N >
	Traits to get dimension, supporting both fixed and dynamic. More...
struct	gtsam::internal::ManifoldTraits< Class >
	A helper that implements the traits interface for GTSAM manifolds. More...
struct	gtsam::internal::HasLocalJacobians< T, class >
	Detect whether a traits type provides Local with Jacobians. More...
struct	gtsam::internal::HasLocalJacobians< T, std::void_t< decltype(traits< T >::Local(std::declval< const T & >(), std::declval< const T & >(), std::declval< typename traits< T >::ChartJacobian >(), std::declval< typename traits< T >::ChartJacobian >()))> >
struct	gtsam::internal::Manifold< Class >
	Both ManifoldTraits and Testable. More...
class	gtsam::IsManifold< T >
	Manifold concept. More...
struct	gtsam::FixedDimension< T >
	Give fixed size dimension of a type, fails at compile time if dynamic. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_MANIFOLD_INST(T)
	Macros for using the ManifoldConcept.
#define	GTSAM_CONCEPT_MANIFOLD_TYPE(T)

Typedefs
template<class C, class ChartJacobian>
using	gtsam::internal::LocalCoordinatesWithJacobians
	Probe for a class member localCoordinates implementation with Jacobians.
template<class C, class TangentVector, class ChartJacobian>
using	gtsam::internal::RetractWithJacobians
	Probe for a class member retract implementation with Jacobians.

Functions
template<typename T>
	gtsam::check_manifold_invariants (const T &a, const T &b, double tol=1e-9)
	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

)

Value:

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

GTSAM_CONCEPT_MANIFOLD_TYPE

#define GTSAM_CONCEPT_MANIFOLD_TYPE

(

T

)

Value:

using _gtsam_IsManifold_##T = gtsam::IsManifold<T>;

Typedef Documentation

LocalCoordinatesWithJacobians

template<class C, class ChartJacobian>

using gtsam::internal::LocalCoordinatesWithJacobians

Initial value:

decltype(
   std::declval<const C&>().localCoordinates(
       std::declval<const C&>(), std::declval<ChartJacobian>(),
       std::declval<ChartJacobian>()))

Probe for a class member localCoordinates implementation with Jacobians.

RetractWithJacobians

template<class C, class TangentVector, class ChartJacobian>

using gtsam::internal::RetractWithJacobians

Initial value:

decltype(std::declval<const C&>().retract(
   std::declval<const TangentVector&>(), std::declval<ChartJacobian>(),
   std::declval<ChartJacobian>()))

Probe for a class member retract implementation with Jacobians.