gtsam::abc::Symmetry< N > Struct Template Reference

Detailed Description

template<size_t N>
struct gtsam::abc::Symmetry< N >

Right action φ_ξ(X) = (R A, Aᵀ(b − a), Aᵀ C B) on the state manifold.

Implements the right action φ_{ξ}(X) = (R A, Aᵀ(b − a), Aᵀ C B), where ξ=(R,b,C). This is the discrete version of the homogeneous-space action in Eq. (4) of Fornasier et al. (2022).

Inheritance diagram for gtsam::abc::Symmetry< N >:

Public Member Functions
M	operator() (const M &xi, const G &g, OptionalJacobian< M::dimension, M::dimension > Hm={}, OptionalJacobian< M::dimension, G::dimension > Hg={}) const
	Implements group actions on the states.
Public Member Functions inherited from gtsam::GroupAction< Symmetry< N >, Group< N >, State< N > >
const Symmetry< N > &	derived () const
	Access derived class.

Static Public Attributes
static constexpr ActionType	type = ActionType::Right
Static Public Attributes inherited from gtsam::GroupAction< Symmetry< N >, Group< N >, State< N > >
static constexpr int	DimG
static constexpr int	DimM

Public Types
using	M = State<N>
using	G = gtsam::abc::Group<N>
Public Types inherited from gtsam::GroupAction< Symmetry< N >, Group< N >, State< N > >
using	Group
using	Manifold
using	Orbit
using	Diffeomorphism

Classes
struct	Orbit

Member Function Documentation

operator()()

template<size_t N>

M gtsam::abc::Symmetry< N >::operator() ( const M & xi, const G & g, OptionalJacobian< M::dimension, M::dimension > Hm = {}, OptionalJacobian< M::dimension, G::dimension > Hg = {} ) const

inline

Implements group actions on the states.

Parameters

g	An element of the symmetry group G.

Returns

Transformed state

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

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