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gtsam::PowerLieGroup< G, Eigen::Dynamic > Class Template Reference
Detailed Description
template<typename G>
class gtsam::PowerLieGroup< G, Eigen::Dynamic >
class gtsam::PowerLieGroup< G, Eigen::Dynamic >
Dynamic-count specialization of PowerLieGroup Represents G^N for runtime-sized N while keeping G fixed-size.
Inheritance diagram for gtsam::PowerLieGroup< G, Eigen::Dynamic >:
Public Member Functions | |
Standard Constructors | |
| PowerLieGroup ()=default | |
| Default constructor yields a zero-length placeholder identity. | |
| PowerLieGroup (size_t count) | |
| Construct a runtime-sized identity element. | |
| PowerLieGroup (const Base &elements) | |
| Construct from vector of group elements. | |
| PowerLieGroup (const std::initializer_list< G > &elements) | |
| Construct from initializer list. | |
| Public Member Functions inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| 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 | |
| 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 | |
| TangentVector | logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| logmap with optional derivatives, when the class provides them | |
| size_t | dim () const |
| Return manifold dimension. | |
| PowerLieGroup< G, N > | operator* (const PowerLieGroup< G, N > &other) const |
| Group multiplication. | |
| PowerLieGroup< G, N > | retract (const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) const |
| Retract to manifold. | |
| TangentVector | localCoordinates (const PowerLieGroup< G, N > &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 PowerLieGroup< G, N > &other, double tol=1e-9) const |
| Equality with tolerance. | |
| Public Member Functions inherited from gtsam::LieGroup< PowerLieGroup< G, N >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| 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 |
| std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| Provided fixed dimension in dim() if needed. | |
| const PowerLieGroup< G, N > & | derived () const |
| PowerLieGroup< G, N > | inverse (ChartJacobian H) const |
| PowerLieGroup< G, N > | expmap (const TangentVector &v) const |
| expmap as required by manifold concept Applies exponential map to v and composes with *this | |
| TangentVector | logmap (const PowerLieGroup< G, N > &g) const |
| logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g | |
| PowerLieGroup< G, N > | retract (const TangentVector &v) const |
| retract as required by manifold concept: applies v at *this | |
| TangentVector | localCoordinates (const PowerLieGroup< G, N > &g) const |
| localCoordinates as required by manifold concept: finds tangent vector between *this and g | |
| Public Member Functions inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| 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 | |
| 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 | |
| TangentVector | logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const |
| logmap with optional derivatives, when the class provides them | |
| size_t | dim () const |
| Return manifold dimension. | |
| PowerLieGroup< G, Eigen::Dynamic > | operator* (const PowerLieGroup< G, Eigen::Dynamic > &other) const |
| Group multiplication. | |
| PowerLieGroup< G, Eigen::Dynamic > | retract (const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) const |
| Retract to manifold. | |
| TangentVector | localCoordinates (const PowerLieGroup< G, Eigen::Dynamic > &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 PowerLieGroup< G, Eigen::Dynamic > &other, double tol=1e-9) const |
| Equality with tolerance. | |
| Public Member Functions inherited from gtsam::LieGroup< PowerLieGroup< G, Eigen::Dynamic >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| 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 |
| std::enable_if_t< M !=Eigen::Dynamic, int > | dim () const |
| Provided fixed dimension in dim() if needed. | |
| const PowerLieGroup< G, Eigen::Dynamic > & | derived () const |
| PowerLieGroup< G, Eigen::Dynamic > | inverse (ChartJacobian H) const |
| PowerLieGroup< G, Eigen::Dynamic > | expmap (const TangentVector &v) const |
| expmap as required by manifold concept Applies exponential map to v and composes with *this | |
| TangentVector | logmap (const PowerLieGroup< G, Eigen::Dynamic > &g) const |
| logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g | |
| PowerLieGroup< G, Eigen::Dynamic > | retract (const TangentVector &v) const |
| retract as required by manifold concept: applies v at *this | |
| TangentVector | localCoordinates (const PowerLieGroup< G, Eigen::Dynamic > &g) const |
| localCoordinates as required by manifold concept: finds tangent vector between *this and g | |
Static Public Member Functions | |
| static constexpr int | Dim () |
| Static method to get the dimension (compile-time or dynamic). | |
Group Operations | |
| static PowerLieGroup | Identity () |
| Identity element. | |
| Static Public Member Functions inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| static constexpr int | Dim () |
| Static method to get the dimension (compile-time or dynamic). | |
| static PowerLieGroup< G, N > | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
| Exponential map. | |
| static TangentVector | Logmap (const PowerLieGroup< G, N > &p, ChartJacobian Hp={}) |
| Logarithmic map. | |
| static TangentVector | LocalCoordinates (const PowerLieGroup< G, N > &p, ChartJacobian Hp={}) |
| Local coordinates (same as Logmap). | |
| Static Public Member Functions inherited from gtsam::LieGroup< PowerLieGroup< G, N >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| static constexpr int | Dim () |
| Static method to get the dimension (compile-time or dynamic). | |
| static PowerLieGroup< G, N > | Retract (const TangentVector &v) |
| Retract at origin: possible in Lie group because it has an identity. | |
| static TangentVector | LocalCoordinates (const PowerLieGroup< G, N > &g) |
| LocalCoordinates at origin: possible in Lie group because it has an identity. | |
| Static Public Member Functions inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| static constexpr int | Dim () |
| Static method to get the dimension (compile-time or dynamic). | |
| static PowerLieGroup< G, Eigen::Dynamic > | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
| Exponential map. | |
| static TangentVector | Logmap (const PowerLieGroup< G, Eigen::Dynamic > &p, ChartJacobian Hp={}) |
| Logarithmic map. | |
| static TangentVector | LocalCoordinates (const PowerLieGroup< G, Eigen::Dynamic > &p, ChartJacobian Hp={}) |
| Local coordinates (same as Logmap). | |
| Static Public Member Functions inherited from gtsam::LieGroup< PowerLieGroup< G, Eigen::Dynamic >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| static constexpr int | Dim () |
| Static method to get the dimension (compile-time or dynamic). | |
| static PowerLieGroup< G, Eigen::Dynamic > | Retract (const TangentVector &v) |
| Retract at origin: possible in Lie group because it has an identity. | |
| static TangentVector | LocalCoordinates (const PowerLieGroup< G, Eigen::Dynamic > &g) |
| LocalCoordinates at origin: possible in Lie group because it has an identity. | |
Static Public Attributes | |
| static constexpr auto | dimension |
| Static Public Attributes inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| static constexpr auto | dimension |
| Static Public Attributes inherited from gtsam::LieGroup< PowerLieGroup< G, N >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| static constexpr auto | dimension |
| Static Public Attributes inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| static constexpr auto | dimension |
| Static Public Attributes inherited from gtsam::LieGroup< PowerLieGroup< G, Eigen::Dynamic >, internal::dimensionProduct(N, traits< G >::dimension)> | |
| static constexpr auto | dimension |
Public Types | |
| typedef std::vector< G > | Base |
| Base vector type. | |
| typedef PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup > | Helper |
| Public Types inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| using | LieBase |
| typedef multiplicative_group_tag | group_flavor |
| using | TangentVector |
| using | ChartJacobian |
| using | Jacobian |
| using | BaseJacobian |
| using | JacobianStorage |
| Public Types inherited from gtsam::LieGroup< PowerLieGroup< G, N >, 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 |
| Public Types inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| using | LieBase |
| typedef multiplicative_group_tag | group_flavor |
| using | TangentVector |
| using | ChartJacobian |
| using | Jacobian |
| using | BaseJacobian |
| using | JacobianStorage |
| Public Types inherited from gtsam::LieGroup< PowerLieGroup< G, Eigen::Dynamic >, 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 |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| const PowerLieGroup< G, N > & | derived () const |
| Downcast to the derived storage type. | |
| size_t | componentCount () const |
| Runtime component count. | |
| void | checkMatchingCounts (const PowerLieGroup< G, N > &other, const char *operation) const |
| Validate matching component counts for binary operations. | |
| Protected Member Functions inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| const PowerLieGroup< G, Eigen::Dynamic > & | derived () const |
| Downcast to the derived storage type. | |
| size_t | componentCount () const |
| Runtime component count. | |
| void | checkMatchingCounts (const PowerLieGroup< G, Eigen::Dynamic > &other, const char *operation) const |
| Validate matching component counts for binary operations. | |
| Static Protected Member Functions inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| 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 PowerLieGroup< G, N > | 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. | |
| 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. | |
| Static Protected Member Functions inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| 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 PowerLieGroup< G, Eigen::Dynamic > | 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. | |
| 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. | |
| Static Protected Attributes inherited from gtsam::PowerLieGroupBase< G, N, PowerLieGroup< G, N > > | |
| static constexpr bool | isDynamic |
| static constexpr int | n |
| Static Protected Attributes inherited from gtsam::PowerLieGroupBase< G, Eigen::Dynamic, PowerLieGroup< G, Eigen::Dynamic > > | |
| static constexpr bool | isDynamic |
| static constexpr int | n |
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/ProductLieGroup.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/ProductLieGroup-inl.h
