Detailed Description

template<typename G>
struct gtsam::internal::TangentLieGroupJacobian< G >

Optional closed-form kernels used by TangentLieGroup::Expmap() and its private rightJacobian() helper.

Rot3 specializes this trait in Rot3.h to reuse the same SO(3) kernel as Pose3; other groups use the structured augmented exponential in TangentLieGroup-inl.h.

Static Public Attributes
static constexpr bool	available = false
static constexpr bool	expmapAvailable = false

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

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

Detailed Description

Static Public Attributes