Detailed Description
class gtsam::AsVectorSpace< Class >
Opt-in adapter that equips a manifold class with additive vector-space operations.
The default-constructed wrapped value is chosen as the additive identity. Addition and subtraction use the wrapped manifold's Local and Retract maps. This is useful when an application deliberately chooses a local affine embedding for a type, such as a camera calibration, that has no natural group composition. Cumulative Lie-group splines require composition, inverse, Expmap, and Logmap operations, but calibration classes intentionally expose only manifold Local and Retract operations: composing two camera intrinsic matrices is not physically meaningful. This wrapper makes the modeling choice explicit by defining addition in coordinates about the default-constructed value. It is a local affine approximation, not a claim that the wrapped type has a natural global vector-space structure.
- Template Parameters
-
Class A type satisfying GTSAM's manifold traits.
Public Member Functions | |
| AsVectorSpace () | |
| Construct the selected additive identity. | |
| AsVectorSpace (const Class &value) | |
| Wrap an existing manifold value. | |
| AsVectorSpace (const TangentVector &tangent) | |
| Retract a tangent vector from the selected identity. | |
| AsVectorSpace | operator+ (const AsVectorSpace &other) const |
| Add another wrapped value using its coordinates about the identity. | |
| AsVectorSpace | operator- (const AsVectorSpace &other) const |
| Subtract another wrapped value using its coordinates about the identity. | |
| AsVectorSpace | operator- () const |
| Negate the wrapped value's coordinates about the identity. | |
| AsVectorSpace | operator+ (const TangentVector &tangent) const |
| Retract a tangent increment from the current wrapped value. | |
| AsVectorSpace | operator- (const TangentVector &tangent) const |
| Retract a negated tangent increment from the current wrapped value. | |
| TangentVector | vector () const |
| Return coordinates relative to the selected additive identity. | |
Static Public Member Functions | |
| static AsVectorSpace | Identity () |
| Return the selected additive identity. | |
Static Public Attributes | |
| static constexpr int | dimension = traits<Class>::dimension |
| Compile-time dimension inherited from the wrapped manifold. | |
Public Types | |
| using | TangentVector = typename traits<Class>::TangentVector |
| Tangent coordinates supplied by the wrapped manifold traits. | |
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/AsVectorSpace.h
