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

Detailed Description

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

Encodes the partially applied input action ψ_u(X) = Aᵀ(ω − a), used to compute A(X,u) and Φ(X,u).

Functor encoding the right group action on the mathematical input u. For a fixed u = (ω, 0), applying X = (A, a, B) ∈ G yields ψ_u(X) = (A^{-1}(ω - a), 0). The matrices A(X,u) and Φ(X,u) here match the linearization in Eqs. (20) and (21), using ω̃ = Aᵀ(ω − a).

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

Public Member Functions
Vector6	operator() (const Vector6 &u, const G &X) const
Public Member Functions inherited from gtsam::GroupAction< InputAction< N >, Group< N >, Vector6 >
const InputAction< N > &	derived () const
	Access derived class.

Static Public Attributes
static constexpr ActionType	type = ActionType::Right
Static Public Attributes inherited from gtsam::GroupAction< InputAction< N >, Group< N >, Vector6 >
static constexpr int	DimG
static constexpr int	DimM

Public Types
using	G = Group<N>
Public Types inherited from gtsam::GroupAction< InputAction< N >, Group< N >, Vector6 >
using	Group
using	Manifold
using	Orbit
using	Diffeomorphism

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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