gtsam::internal::ChartAtIdentity< Class, N > Struct Template Reference

Detailed Description

template<class Class, int N>
struct gtsam::internal::ChartAtIdentity< Class, N >

Chart-at-origin adapter for LieGroup-derived classes with explicit instance retract/localCoordinates implementations.

Fixed-size classes can construct their identity and therefore preserve the derived class's chosen chart exactly. A dynamically sized identity does not carry enough size information, so the static origin chart uses Expmap and Logmap; callers must still supply an unambiguous tangent dimension.

Static Public Member Functions
static Class	Retract (const TangentVector &v)
template<class C = Class, class = ExpmapWithJacobian<C, TangentVector, ChartJacobian>>
static Class	Retract (const TangentVector &v, ChartJacobian H)
static TangentVector	Local (const Class &value)
template<class C = Class, class = LogmapWithJacobian<C, ChartJacobian>>
static TangentVector	Local (const Class &value, ChartJacobian H)

Public Types
using	TangentVector = Eigen::Matrix<double, N, 1>
using	ChartJacobian = OptionalJacobian<N, N>

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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/Lie.h