Detailed Description

template<typename Scalar>
struct gtsam::internal::ScalarTraits< Scalar >

A helper that implements the traits interface for scalar vector spaces.

Usage: template<> struct traits<Type> : public ScalarTraits<Type> { };

Inheritance diagram for gtsam::internal::ScalarTraits< Scalar >:

Manifold
typedef Scalar	ManifoldType
typedef Eigen::Matrix< double, 1, 1 >	TangentVector
typedef OptionalJacobian< 1, 1 >	ChartJacobian
static constexpr auto	dimension = 1
static TangentVector	Local (Scalar origin, Scalar other, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Retract (Scalar origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Static Public Member Functions
Testable
static void	Print (Scalar m, const std::string &str="")
static bool	Equals (Scalar v1, Scalar v2, double tol=1e-8)
Lie Group
static TangentVector	Logmap (Scalar m, ChartJacobian H={})
static Scalar	Expmap (const TangentVector &v, ChartJacobian H={})
static size_t	GetDimension (const Scalar &)
static TangentVector	Local (const Scalar &origin, const Scalar &other, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Retract (const Scalar &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})
static TangentVector	Logmap (const Scalar &m, ChartJacobian Hm={})
static Scalar	Expmap (const TangentVector &v, ChartJacobian Hv={})
static Scalar	Compose (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Between (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Inverse (const Scalar &v, ChartJacobian H={})
static LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)
static Jacobian	AdjointMap (const Scalar &)

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

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

Group