gtsam::traits< const Pose3 > Struct Reference

Inheritance diagram for gtsam::traits< const Pose3 >:

Additional Inherited Members
Public Member Functions inherited from gtsam::internal::ManifoldTraits< Pose3 >
	GTSAM_CONCEPT_ASSERT (HasManifoldPrereqs< Pose3 >)
Public Member Functions inherited from gtsam::Testable< Pose3 >
	GTSAM_CONCEPT_ASSERT (HasTestablePrereqs< Pose3 >)
Static Public Member Functions inherited from gtsam::traits< Pose3 >
template<int D = 1>
static Matrix	QcqpValue (const Pose3 &value)
	Return the D=1 homogenized QCQP variable x = [1, vec(R), tx, ty, tz] in column-major order.
template<int D = 1>
static std::vector< std::pair< Matrix, double > >	QcqpConstraints ()
	Return the ten D=1 lifted SE(3) manifold constraints A, b such that trace(x' A x) = b.
template<int D>
static Pose3	FromQcqpValue (const Matrix &X)
	Project a D=1 homogenized QCQP vector back to Pose3.
Static Public Member Functions inherited from gtsam::internal::MatrixLieGroupTraits< Pose3, N >
static LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)
static Eigen::Matrix< double, product(N, N), 1 >	Vec (const Pose3 &m, OptionalJacobian< product(N, N), LieGroupTraits< Pose3 >::dimension > H={})
	Vectorize the matrix representation of a Lie group element.
static TangentVector	AdjointTranspose (const Pose3 &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={})
static TangentVector	Adjoint (const Pose3 &m, const TangentVector &x, ChartJacobian Hm={}, ChartJacobian Hx={})
static Jacobian	adjointMap (const TangentVector &xi)
static TangentVector	adjoint (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
static TangentVector	adjointTranspose (const TangentVector &xi, const TangentVector &y, ChartJacobian Hxi={}, ChartJacobian H_y={})
Static Public Member Functions inherited from gtsam::internal::LieGroupTraits< Pose3 >
static TangentVector	Logmap (const Pose3 &m)
static Pose3	Expmap (const TangentVector &v)
static Pose3	Compose (const Pose3 &m1, const Pose3 &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Pose3	Between (const Pose3 &m1, const Pose3 &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Pose3	Inverse (const Pose3 &m, ChartJacobian H={})
static Eigen::Matrix< double, dimension, dimension >	AdjointMap (const Pose3 &m)
static Pose3	Identity ()
Static Public Member Functions inherited from gtsam::internal::ManifoldTraits< Pose3 >
static TangentVector	Local (const Pose3 &origin, const Pose3 &other)
static Pose3	Retract (const Pose3 &origin, const TangentVector &v)
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Pose3, Pose3::dimension >
static size_t	GetDimension (const Pose3 &m)
Static Public Member Functions inherited from gtsam::Testable< Pose3 >
static void	Print (const Pose3 &m, const std::string &str="")
static bool	Equals (const Pose3 &m1, const Pose3 &m2, double tol=1e-8)
Static Public Attributes inherited from gtsam::traits< Pose3 >
static constexpr int	QcqpVectorDim = 13
	Dimension of the D=1 homogenized QCQP vector.
static constexpr auto	dimension
Static Public Attributes inherited from gtsam::internal::ManifoldTraits< Pose3 >
static constexpr auto	dimension
Public Types inherited from gtsam::internal::MatrixLieGroupTraits< Pose3, N >
using	LieAlgebra
using	TangentVector
using	Jacobian
using	ChartJacobian
Public Types inherited from gtsam::internal::LieGroupTraits< Pose3 >
typedef OptionalJacobian< dimension, dimension >	ChartJacobian
typedef Pose3	ManifoldType
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
using	Manifold
using	structure_category
using	group_flavor
using	Jacobian
Public Types inherited from gtsam::internal::ManifoldTraits< Pose3 >
typedef Pose3	ManifoldType
typedef manifold_tag	structure_category
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
typedef OptionalJacobian< dimension, dimension >	ChartJacobian

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Pose3.h