gtsam::internal::VectorSpaceTraits< Class > Struct Template Reference

Detailed Description

template<class Class>
struct gtsam::internal::VectorSpaceTraits< Class >

A helper that implements the traits interface for classes that define vector spaces To use this for your class, define: template<> struct traits<Class> : public VectorSpaceTraits<Class> {}; The class needs to support the requirements defined by HasVectorSpacePrereqs above.

Inheritance diagram for gtsam::internal::VectorSpaceTraits< Class >:

Group
typedef additive_group_tag	group_flavor
static Class	Identity ()

Manifold
typedef Class	ManifoldType
static constexpr auto	dimension = Class::dimension

Public Member Functions
	GTSAM_CONCEPT_ASSERT (HasVectorSpacePrereqs< Class >)

Public Types
typedef vector_space_tag	structure_category
typedef Eigen::Matrix< double, N, 1 >	TangentVector
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian
typedef Eigen::Matrix< double, N, 1 >	LieAlgebra

Additional Inherited Members
static size_t	GetDimension (const Class &)
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={})
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 LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)
static Jacobian	AdjointMap (const Class &)

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

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