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gtsam::LieGroup< Class, N > Struct Template Reference
Detailed Description
template<class Class, int N>
struct gtsam::LieGroup< Class, N >
struct gtsam::LieGroup< Class, N >
A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf.
Inheritance diagram for gtsam::LieGroup< Class, N >:
Public Member Functions | |
| template<int M = N> | |
| std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| Provided fixed dimension in dim() if needed. | |
| const Class & | derived () const |
| Class | compose (const Class &g) const |
| Class | between (const Class &g) const |
| Class | compose (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| Class | between (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| Class | inverse (ChartJacobian H) const |
| Class | expmap (const TangentVector &v) const |
| expmap as required by manifold concept Applies exponential map to v and composes with *this | |
| TangentVector | logmap (const Class &g) const |
| logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g | |
| template<class C = Class, class = internal::ExpmapWithJacobian<C, TangentVector, ChartJacobian>> | |
| Class | expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| expmap with optional derivatives, when the class provides them | |
| template<class C = Class, class = internal::LogmapWithJacobian<C, ChartJacobian>> | |
| TangentVector | logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| logmap with optional derivatives, when the class provides them | |
| Class | retract (const TangentVector &v) const |
| retract as required by manifold concept: applies v at *this | |
| TangentVector | localCoordinates (const Class &g) const |
| localCoordinates as required by manifold concept: finds tangent vector between *this and g | |
| template<class C = Class, class = decltype(C::ChartAtOrigin::Retract( std::declval<const TangentVector&>(), std::declval<ChartJacobian>()))> | |
| Class | retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const |
| retract with optional derivatives, when the chart provides them | |
| template<class C = Class, class = decltype(C::ChartAtOrigin::Local( std::declval<const C&>(), std::declval<ChartJacobian>()))> | |
| TangentVector | localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| localCoordinates with optional derivatives, when the chart provides them | |
| SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
| SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
| GTSAM_EXPORT SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
| GTSAM_EXPORT SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
Static Public Attributes | |
| static constexpr auto | dimension = N |
Public Types | |
| typedef OptionalJacobian< N, N > | ChartJacobian |
| typedef Eigen::Matrix< double, N, N > | Jacobian |
| typedef Eigen::Matrix< double, N, 1 > | TangentVector |
The documentation for this struct was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/Lie.h
