gtsam::PowerLieGroupBase< G, N, Derived >::ChartAtOrigin Struct Reference

Detailed Description

template<typename G, int N, typename Derived>
struct gtsam::PowerLieGroupBase< G, N, Derived >::ChartAtOrigin

Component-wise chart at the identity.

The dynamic specialization infers its component count from the tangent length before constructing a correctly sized identity. This deliberately uses each component's retract/local chart, which need not equal its Lie-group Expmap/Logmap chart (Pose2 is one such example).

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

---

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

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