gtsam::ExtendedPose3< K_, Derived >::ChartAtOrigin Struct Reference

Detailed Description

template<int K_, class Derived>
struct gtsam::ExtendedPose3< K_, Derived >::ChartAtOrigin

Chart operations at identity for LieGroup/Manifold compatibility.

Static Public Member Functions
static This	Retract (const TangentVector &xi, ChartJacobian Hxi={})
	Retract at identity.
static TangentVector	Local (const This &pose, ChartJacobian Hpose={})
	Local coordinates at identity.

Member Function Documentation

Local()

template<int K, class Derived>

ExtendedPose3< K, Derived >::TangentVector gtsam::ExtendedPose3< K, Derived >::ChartAtOrigin::Local ( const This & pose, ChartJacobian Hpose = {} )

static

Local coordinates at identity.

Parameters

pose	Group element in SE_k(3).
Hpose	Optional Jacobian in R^(dimxdim).

Returns

Logmap(pose) in R^dim.

Retract()

template<int K, class Derived>

ExtendedPose3< K, Derived >::This gtsam::ExtendedPose3< K, Derived >::ChartAtOrigin::Retract ( const TangentVector & xi, ChartJacobian Hxi = {} )

static

Retract at identity.

Parameters

xi	Tangent vector in R^dim.
Hxi	Optional Jacobian in R^(dimxdim).

Returns

Expmap(xi).

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/ExtendedPose3.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/ExtendedPose3-inl.h