Detailed Description

template<class Class>
struct gtsam::internal::VectorSpaceImpl< Class, Eigen::Dynamic >

VectorSpaceTraits implementation for dynamic types.

Manifold
typedef Eigen::VectorXd	TangentVector
typedef OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic >	ChartJacobian
static size_t	GetDimension (const Class &m)
static Eigen::MatrixXd	Eye (const Class &m)
static TangentVector	Local (const Class &origin, const Class &other, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Retract (const Class &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Lie Group
typedef Eigen::Matrix< double, N, 1 >	LieAlgebra
static LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)

Static Public Member Functions
Group
static Class	Compose (const Class &v1, const Class &v2)
static Class	Between (const Class &v1, const Class &v2)
static Class	Inverse (const Class &m)
Lie Group
static TangentVector	Logmap (const Class &m, ChartJacobian Hm={})
static Class	Expmap (const TangentVector &v, ChartJacobian Hv={})
static Class	Compose (const Class &v1, const Class &v2, ChartJacobian H1, ChartJacobian H2={})
static Class	Between (const Class &v1, const Class &v2, ChartJacobian H1, ChartJacobian H2={})
static Class	Inverse (const Class &v, ChartJacobian H)
static Eigen::MatrixXd	AdjointMap (const Class &m)

Public Types
Manifold
typedef Eigen::Matrix< double, N, N >	Jacobian

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

Manifold