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

Detailed Description

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

Implements the lift Λ(ξ,u) from the paper: Λ encodes the lifted dynamics on G induced by the biased gyroscope input u = (ω,0).

Functor computing the lifted tangent vector from a state and fixed input. In the notation of Fornasier et al., this corresponds to Eq. (7), written in the so(3)≃ℝ³ identification.

Public Member Functions
	Lift (const Vector6 &u)
G::TangentVector	operator() (const M &xi, OptionalJacobian< G::dimension, M::dimension > H={}) const

Public Types
using	M = State<N>
using	G = Group<N>

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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