Detailed Description

template<typename G, typename H>
struct gtsam::ProductLieGroup< G, H >::ChartAtOrigin

Component-wise chart at the product identity.

For a dynamic product, Identity() cannot retain the runtime dimension of a dynamic factor. Retract therefore obtains a correctly sized identity by exponentiating a zero tangent before applying the component charts. This is deliberately not the same as returning Expmap(v): a component's retract chart may differ from its exponential map (for example, Rot3 when configured to use the Cayley chart).

If both factors are dynamic, a single concatenated tangent does not reveal their split; Expmap supplies the existing diagnostic for that case. Local can always recover both dimensions from the supplied value.

Static Public Member Functions
static This	Retract (const TangentVector &v, ChartJacobian Hv={})
static TangentVector	Local (const This &value, ChartJacobian Hv={})

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/ProductLieGroup.h

Detailed Description

Static Public Member Functions