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

Lie Group
using	LieAlgebra = Dynamic
static TangentVector	Logmap (const Dynamic &m, ChartJacobian H={})
static Dynamic	Expmap (const TangentVector &v, ChartJacobian H={})
static Dynamic	Inverse (const Dynamic &m, ChartJacobian H={})
static Dynamic	Compose (const Dynamic &v1, const Dynamic &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Dynamic	Between (const Dynamic &v1, const Dynamic &v2, ChartJacobian H1={}, ChartJacobian H2={})
static LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)
static Jacobian	AdjointMap (const Dynamic &m)

Static Public Member Functions
Testable
static void	Print (const Dynamic &m, const std::string &str="")
static bool	Equals (const Dynamic &v1, const Dynamic &v2, double tol=1e-8)

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

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

Group

Manifold