gtsam::traits< Unit3 > Struct Reference

Detailed Description

Define GTSAM traits.

QCQP traits for the unit sphere S^2.

The lift is a relaxation of the sphere: at D = 3 the row is a unit vector in R^3, and at D > 3 it is in S^{D-1}, which is the lifted sphere the Burer-Monteiro method searches over.

Inheritance diagram for gtsam::traits< Unit3 >:

Static Public Member Functions
template<int D = 1>
static Matrix	QcqpValue (const Unit3 &value)
	Lift a direction to a 1-by-D row, zero-padded above the ambient dimension.
template<int D = 1>
static std::vector< std::pair< Matrix, double > >	QcqpConstraints ()
	The single unit-norm constraint, ||X||^2 = 1.
template<int D = 1>
static Unit3	FromQcqpValue (const Matrix &X)
	Recover a direction by normalizing the leading three entries.
Static Public Member Functions inherited from gtsam::internal::ManifoldTraits< Unit3 >
static TangentVector	Local (const Unit3 &origin, const Unit3 &other)
static Unit3	Retract (const Unit3 &origin, const TangentVector &v)
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Unit3, Unit3::dimension >
static size_t	GetDimension (const Unit3 &m)
Static Public Member Functions inherited from gtsam::Testable< Unit3 >
static void	Print (const Unit3 &m, const std::string &str="")
static bool	Equals (const Unit3 &m1, const Unit3 &m2, double tol=1e-8)

Static Public Attributes
static constexpr int	QcqpVectorDim = 4
	Dimension of the D=1 homogenized QCQP vector: [1; p].
Static Public Attributes inherited from gtsam::internal::ManifoldTraits< Unit3 >
static constexpr auto	dimension

Additional Inherited Members
Public Member Functions inherited from gtsam::internal::ManifoldTraits< Unit3 >
	GTSAM_CONCEPT_ASSERT (HasManifoldPrereqs< Unit3 >)
Public Member Functions inherited from gtsam::Testable< Unit3 >
	GTSAM_CONCEPT_ASSERT (HasTestablePrereqs< Unit3 >)
Public Types inherited from gtsam::internal::ManifoldTraits< Unit3 >
typedef Unit3	ManifoldType
typedef manifold_tag	structure_category
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
typedef OptionalJacobian< dimension, dimension >	ChartJacobian

---

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/Unit3.h