Inheritance diagram for gtsam::PowerLieGroupBase< G, N, Derived >:

Public Member Functions
size_t	dim () const
	Return manifold dimension.
Derived	operator* (const Derived &other) const
	Group multiplication.
Derived	inverse () const
	Group inverse.
Derived	retract (const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) const
	Retract to manifold.
TangentVector	localCoordinates (const Derived &g, ChartJacobian H1={}, ChartJacobian H2={}) const
	Local coordinates on manifold.
Jacobian	AdjointMap () const
	Adjoint map.
void	print (const std::string &s="") const
	Print for debugging.
bool	equals (const Derived &other, double tol=1e-9) const
	Equality with tolerance.
Class	between (const Class &g) const
Class	between (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const
SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
Class	compose (const Class &g) const
Class	compose (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const
SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
Class	expmap (const TangentVector &v) const
	expmap as required by manifold concept Applies exponential map to v and composes with *this
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
Class	inverse (ChartJacobian H) const
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::LogmapWithJacobian<C, ChartJacobian>>
TangentVector	logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const
	logmap with optional derivatives, when the class provides them
Public Member Functions inherited from gtsam::LieGroup< Derived, internal::dimensionProduct(N, traits< G >::dimension)>
std::enable_if_t< M !=Eigen::Dynamic, int >	dim () const
	Provided fixed dimension in dim() if needed.
const Derived &	derived () const
Derived	compose (const Derived &g) const
Derived	between (const Derived &g) const
Derived	compose (const Derived &g, ChartJacobian H1, ChartJacobian H2={}) const
Derived	between (const Derived &g, ChartJacobian H1, ChartJacobian H2={}) const
Derived	inverse (ChartJacobian H) const
Derived	expmap (const TangentVector &v) const
	expmap as required by manifold concept Applies exponential map to v and composes with *this
TangentVector	logmap (const Derived &g) const
	logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
Derived	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	expmap with optional derivatives, when the class provides them
TangentVector	logmap (const Derived &g, ChartJacobian H1, ChartJacobian H2={}) const
	logmap with optional derivatives, when the class provides them
Derived	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this
TangentVector	localCoordinates (const Derived &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g
Derived	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	retract with optional derivatives, when the chart provides them
TangentVector	localCoordinates (const Derived &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 Member Functions
static Derived	Expmap (const TangentVector &v, ChartJacobian Hv={})
	Exponential map.
static TangentVector	Logmap (const Derived &p, ChartJacobian Hp={})
	Logarithmic map.
static TangentVector	LocalCoordinates (const Derived &p, ChartJacobian Hp={})
	Local coordinates (same as Logmap).
static constexpr int	Dim ()
	Static method to get the dimension (compile-time or dynamic).
Static Public Member Functions inherited from gtsam::LieGroup< Derived, internal::dimensionProduct(N, traits< G >::dimension)>
static constexpr int	Dim ()
	Static method to get the dimension (compile-time or dynamic).
static Derived	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity.
static TangentVector	LocalCoordinates (const Derived &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity.
static Derived	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative, when the chart provides it.
static TangentVector	LocalCoordinates (const Derived &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative, when provided.

Static Public Attributes
static constexpr auto	dimension
Static Public Attributes inherited from gtsam::LieGroup< Derived, internal::dimensionProduct(N, traits< G >::dimension)>
static constexpr auto	dimension

Public Types
using	LieBase
typedef multiplicative_group_tag	group_flavor
using	TangentVector = typename LieBase::TangentVector
using	ChartJacobian = typename LieBase::ChartJacobian
using	Jacobian = typename LieBase::Jacobian
using	BaseJacobian = typename traits<G>::Jacobian
using	JacobianStorage
Public Types inherited from gtsam::LieGroup< Derived, internal::dimensionProduct(N, traits< G >::dimension)>
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian
typedef Eigen::Matrix< double, N, 1 >	TangentVector

Classes
struct	ChartAtOrigin
	Component-wise chart at the identity. More...

Protected Member Functions
const Derived &	derived () const
	Downcast to the derived storage type.
Derived &	derived ()
	Downcast to the derived storage type.
size_t	componentCount () const
	Runtime component count.
void	checkMatchingCounts (const Derived &other, const char *operation) const
	Validate matching component counts for binary operations.

Static Protected Member Functions
static size_t	totalDimension (size_t count)
	Total tangent dimension for a given component count.
static Eigen::Index	offset (size_t i)
	Starting offset of one component inside the concatenated tangent.
static void	checkDynamicTangentSize (const TangentVector &v, size_t count, const char *operation)
	Validate tangent size for dynamic-count groups.
static traits< G >::TangentVector	tangentSegment (const TangentVector &v, size_t i)
	Extract one component tangent from the concatenated tangent.
static Derived	makeResult (size_t count)
	Create a result object with the requested component count.
static JacobianStorage	makeJacobianStorage (size_t count)
	Create per-component Jacobian storage.
static void	assignTangentSegment (TangentVector &v, size_t i, const typename traits< G >::TangentVector &vi)
	Write one component tangent into the concatenated tangent.
template<typename MatrixType>
static void	assignJacobianBlock (MatrixType &H, size_t i, const BaseJacobian &block)
	Write one component block into a block-diagonal Jacobian.
static void	fillJacobianBlocks (ChartJacobian H, const JacobianStorage &jacobians, size_t count)
	Assemble a block-diagonal Jacobian from per-component blocks.
static TangentVector	zeroTangent (size_t count)
	Create a zero tangent with the requested runtime size.
static Jacobian	zeroJacobian (size_t count)
	Create a zero Jacobian with the requested runtime size.