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

Detailed Description

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

Adds MatrixLieGroup methods to LieGroupTraits.

Inheritance diagram for gtsam::internal::MatrixLieGroupTraits< Class, N >:

Static Public Member Functions

static LieAlgebra Hat (const TangentVector &v)
static TangentVector Vee (const LieAlgebra &X)
static Eigen::Matrix< double, product(N, N), 1 > Vec (const Class &m, OptionalJacobian< product(N, N), LieGroupTraits< Class >::dimension > H={})
 Vectorize the matrix representation of a Lie group element.
static TangentVector AdjointTranspose (const Class &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={})
static TangentVector Adjoint (const Class &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={})
static Jacobian adjointMap (const TangentVector &xi)
static TangentVector adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
static TangentVector adjointTranspose (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
Static Public Member Functions inherited from gtsam::internal::LieGroupTraits< Class >
static TangentVector Logmap (const Class &m)
template<class C = Class, class = LogmapWithJacobian<C, ChartJacobian>>
static TangentVector Logmap (const Class &m, ChartJacobian Hm)
static Class Expmap (const TangentVector &v)
template<class C = Class, class = ExpmapWithJacobian<C, TangentVector, ChartJacobian>>
static Class Expmap (const TangentVector &v, ChartJacobian Hv)
static Class Compose (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Class Between (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Class Inverse (const Class &m, ChartJacobian H={})
static Eigen::Matrix< double, dimension, dimension > AdjointMap (const Class &m)
static Class Identity ()
Static Public Member Functions inherited from gtsam::internal::ManifoldTraits< Class >
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)

Public Types

using LieAlgebra = typename Class::LieAlgebra
using TangentVector = typename LieGroupTraits<Class>::TangentVector
using Jacobian = typename LieGroupTraits<Class>::Jacobian
using ChartJacobian = typename LieGroupTraits<Class>::ChartJacobian
Public Types inherited from gtsam::internal::LieGroupTraits< Class >
using Manifold = ManifoldTraits<Class>
using structure_category = lie_group_tag
using group_flavor = multiplicative_group_tag
using Jacobian = Eigen::Matrix<double, dimension, dimension>
typedef OptionalJacobian< dimension, dimension > ChartJacobian
typedef Class ManifoldType
typedef Eigen::Matrix< double, dimension, 1 > TangentVector
Public Types inherited from gtsam::internal::ManifoldTraits< Class >
typedef Class ManifoldType
typedef manifold_tag structure_category
typedef Eigen::Matrix< double, dimension, 1 > TangentVector
typedef OptionalJacobian< dimension, dimension > ChartJacobian

Additional Inherited Members

Public Member Functions inherited from gtsam::internal::ManifoldTraits< Class >
 GTSAM_CONCEPT_ASSERT (HasManifoldPrereqs< Class >)
static constexpr auto dimension = Manifold::dimension
Static Public Attributes inherited from gtsam::internal::ManifoldTraits< Class >
static constexpr auto dimension = Class::dimension
The documentation for this struct was generated from the following file: