gtsam::group_action::InducedVectorField< Action, VectorField > Struct Template Reference

Detailed Description

template<typename Action, typename VectorField>
struct gtsam::group_action::InducedVectorField< Action, VectorField >

Induced action on vector fields via push-forward.

For a fixed group element g and vector field f this functor evaluates the induced field (g ⋅ f)(ξ) = Dφ_g(φ_{g^{-1}}(ξ)) f(φ_{g^{-1}}(ξ)) where φ is the underlying group action.

In plainer terms: it moves a vector field along the group action so it stays consistent with the symmetry, which is exactly what equivariant filters need when transforming dynamics or measurements.

Inheritance diagram for gtsam::group_action::InducedVectorField< Action, VectorField >:

Public Member Functions
	InducedVectorField (const G &g, const VectorField &f)
	InducedVectorField (const G &g, const VectorField &f, const Action &action)
TangentVector	operator() (const M &xi) const

Public Attributes
G	g_
VectorField	field_

Public Types
using	G = typename Action::Group
using	M = typename Action::Manifold
using	TangentVector = typename traits<M>::TangentVector

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

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