gtsam::traits< T > Struct Template Reference

Detailed Description

template<typename T>
struct gtsam::traits< T >

A manifold defines a space in which there is a notion of a linear tangent space that can be centered around a given point on the manifold.

These nonlinear spaces may have such properties as wrapping around (as is the case with rotations), which might make linear operations on parameters not return a viable element of the manifold.

We perform optimization by computing a linear delta in the tangent space of the current estimate, and then apply this change using a retraction operation, which maps the change in tangent space back to the manifold itself.

There may be multiple possible retractions for a given manifold, which can be chosen between depending on the computational complexity. The important criteria for the creation for the retract and localCoordinates functions is that they be inverse operations.

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

• /Users/dellaert/git/gtsam/gtsam/base/concepts.h