Inheritance diagram for gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > >:

Group
typedef additive_group_tag	group_flavor
static Fixed	Identity ()

Manifold
typedef Fixed	ManifoldType
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
typedef Eigen::Matrix< double, dimension, dimension >	Jacobian
typedef OptionalJacobian< dimension, dimension >	ChartJacobian
static constexpr auto	dimension = M * N
static constexpr int	QcqpVectorDim = dimension + 1
	Dimension of the exact D=1 homogeneous QCQP vector [1; vec(value)].
template<int D>
static Matrix	QcqpValue (const Fixed &value)
	Return the exact D=1 homogeneous QCQP representation.
template<int D>
static std::vector< std::pair< Matrix, double > >	QcqpConstraints ()
	Return the homogeneous-coordinate constraint x(0)^2 = 1.
template<int D>
static Fixed	FromQcqpValue (const Matrix &qcqpValue)
	Recover a fixed-size value from its exact D=1 homogeneous QCQP vector.
static TangentVector	Local (const Fixed &origin, const Fixed &other, ChartJacobian H1={}, ChartJacobian H2={})
static Fixed	Retract (const Fixed &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

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

Public Types
typedef vector_space_tag	structure_category
typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Fixed
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:

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

Group

Manifold

Static Public Member Functions

Public Types