Basic manifold traits
typedef OptionalJacobian< 3, 3 >	ChartJacobian
typedef Eigen::Matrix< _Scalar, 3, 1, _Options, 3, 1 >	TangentVector
static constexpr auto	dimension = 3
static int	GetDimension (const Q &)

Lie group traits
using	LieAlgebra = Matrix3
static Q	Compose (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={})
static Q	Between (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={})
static Q	Inverse (const Q &g, ChartJacobian H={})
static Q	Expmap (const Eigen::Ref< const TangentVector > &omega, ChartJacobian H={})
	Exponential map, using the inlined code from Eigen's conversion from axis/angle.
static TangentVector	Logmap (const Q &q, ChartJacobian H={})
	We use our own Logmap, as there is a slight bug in Eigen.
static Matrix3	AdjointMap (const Q &g)
static Matrix3	Hat (const Vector3 &v)
static Vector3	Vee (const Matrix3 &X)
static Vector9	Vec (const Q &q, OptionalJacobian< 9, 3 > H={})

Static Public Member Functions
Group traits
static Q	Identity ()
Manifold traits
static TangentVector	Local (const Q &g, const Q &h, ChartJacobian H1={}, ChartJacobian H2={})
static Q	Retract (const Q &g, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})
Testable
static void	Print (const Q &q, const std::string &str="")
static bool	Equals (const Q &q1, const Q &q2, double tol=1e-8)

Public Types
typedef QUATERNION_TYPE	ManifoldType
typedef QUATERNION_TYPE	Q
typedef lie_group_tag	structure_category
typedef multiplicative_group_tag	group_flavor

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

Basic manifold traits

Lie group traits