gtsam::internal::ManifoldTraits< Class > Struct Template Reference

Detailed Description

template<class Class>
struct gtsam::internal::ManifoldTraits< Class >

A helper that implements the traits interface for GTSAM manifolds.

To use this for your class type, define: template<> struct traits<Class> : public internal::ManifoldTraits<Class> { };

Inheritance diagram for gtsam::internal::ManifoldTraits< Class >:

Public Member Functions
	GTSAM_CONCEPT_ASSERT (HasManifoldPrereqs< Class >)

Static Public Member Functions
static TangentVector	Local (const Class &origin, const Class &other)
template<class C = Class, class = LocalCoordinatesWithJacobians<C, ChartJacobian>>
static TangentVector	Local (const Class &origin, const Class &other, ChartJacobian H1, ChartJacobian H2={})
static Class	Retract (const Class &origin, const TangentVector &v)
template<class C = Class, class = RetractWithJacobians<C, TangentVector, ChartJacobian>>
static Class	Retract (const Class &origin, const TangentVector &v, ChartJacobian H1, ChartJacobian H2={})
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Class, Class::dimension >
static size_t	GetDimension (const Class &m)

Static Public Attributes
static constexpr auto	dimension = Class::dimension

Public Types
typedef Class	ManifoldType
typedef manifold_tag	structure_category
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
typedef OptionalJacobian< dimension, dimension >	ChartJacobian

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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/Manifold.h