gtsam::group_action::Diffeomorphism< Action > Struct Template Reference

Detailed Description

template<typename Action>
struct gtsam::group_action::Diffeomorphism< Action >

Diffeomorphism: The map m -> m, defined by fixing g0.

(Also known as the translation map L_g or R_g). For Left Action: m -> g0 * m For Right Action: m -> m * g0

Inherits from Action to allow for Empty Base Optimization (EBO). If Action is stateless, this struct will have the same size as G.

Inheritance diagram for gtsam::group_action::Diffeomorphism< Action >:

Public Member Functions
	Diffeomorphism (const G &g)
	Diffeomorphism (const G &g, const Action &a)
	Constructor with explicit action instance.
M	operator() (const M &m) const
	Apply the diffeomorphism to a manifold point.
template<typename A = Action, typename = std::enable_if_t< std::is_invocable_r_v<M, const A&, const G&, const M&, OptionalJacobian<DimM, DimG>, OptionalJacobian<DimM, DimM>> || std::is_invocable_r_v<M, const A&, const M&, const G&, OptionalJacobian<DimM, DimM>, OptionalJacobian<DimM, DimG>>>>
M	operator() (const M &m, OptionalJacobian< DimM, DimM > H) const
template<typename A = Action, typename = std::enable_if_t< std::is_invocable_r_v<M, const A&, const G&, const M&, OptionalJacobian<DimM, DimG>, OptionalJacobian<DimM, DimM>> || std::is_invocable_r_v<M, const A&, const M&, const G&, OptionalJacobian<DimM, DimM>, OptionalJacobian<DimM, DimG>>>>
traits< M >::TangentVector	pushforward (const M &m, const typename traits< M >::TangentVector &v, OptionalJacobian< DimM, DimM > H={}) const
	Push-forward a tangent vector through the diffeomorphism.

Public Attributes
G	g0

Static Public Attributes
static constexpr int	DimG = traits<G>::dimension
static constexpr int	DimM = traits<M>::dimension

Public Types
using	G = typename Action::Group
using	M = typename Action::Manifold

Member Function Documentation

pushforward()

template<typename Action>

template<typename A = Action, typename = std::enable_if_t< std::is_invocable_r_v<M, const A&, const G&, const M&, OptionalJacobian<DimM, DimG>, OptionalJacobian<DimM, DimM>> || std::is_invocable_r_v<M, const A&, const M&, const G&, OptionalJacobian<DimM, DimM>, OptionalJacobian<DimM, DimG>>>>

traits< M >::TangentVector gtsam::group_action::Diffeomorphism< Action >::pushforward ( const M & m, const typename traits< M >::TangentVector & v, OptionalJacobian< DimM, DimM > H = {} ) const

inline

Push-forward a tangent vector through the diffeomorphism.

Given a tangent vector v at m, this returns the translated vector in the tangent space at φ_g0(m) using the Jacobian of the action. This is the standard way to transport vectors between tangent spaces induced by the group action.

---

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/GroupAction.h