Lie.h File Reference

Base class and basic functions for Lie types. More...

Go to the source code of this file.

Classes
struct	gtsam::LieGroup< Class, N >
	A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf. More...
struct	gtsam::lie_group_tag
	tag to assert a type is a Lie group More...
struct	gtsam::internal::LieGroupTraits< Class >
	A helper class that implements the traits interface for GTSAM lie groups. More...
struct	gtsam::internal::LieGroup< Class >
	Both LieGroupTraits and Testable. More...
class	gtsam::IsLieGroup< T >
	Lie Group Concept. More...
class	gtsam::TransformCovariance< T >
	Functor for transforming covariance of T. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_LIE_INST(T)
	Macros for using the LieConcept.
#define	GTSAM_CONCEPT_LIE_TYPE(T)

Functions
template<class Class>
Class	gtsam::between_default (const Class &l1, const Class &l2)
	These core global functions can be specialized by new Lie types for better performance.
template<class Class>
Vector	gtsam::logmap_default (const Class &l0, const Class &lp)
	Log map centered at l0, s.t.
template<class Class>
Class	gtsam::expmap_default (const Class &t, const Vector &d)
	Exponential map centered at l0, s.t.
template<class T>
T	gtsam::BCH (const T &X, const T &Y)
	Three term approximation of the Baker-Campbell-Hausdorff formula In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y.
template<class T>
Matrix	gtsam::wedge (const Vector &x)
	Declaration of wedge (see Murray94book) used to convert from n exponential coordinates to n*n element of the Lie algebra.
template<class T>
T	gtsam::expm (const Vector &x, int K=7)
	Exponential map given exponential coordinates class T needs a wedge<> function and a constructor from Matrix.
template<typename T>
T	gtsam::interpolate (const T &X, const T &Y, double t, typename MakeOptionalJacobian< T, T >::type Hx=boost::none, typename MakeOptionalJacobian< T, T >::type Hy=boost::none)
	Linear interpolation between X and Y by coefficient t.

Detailed Description

Base class and basic functions for Lie types.

Author

Richard Roberts

Alex Cunningham

Frank Dellaert

Mike Bosse

Duy Nguyen Ta

Yotam Stern

Macro Definition Documentation

GTSAM_CONCEPT_LIE_INST

#define GTSAM_CONCEPT_LIE_INST

(

T

)

Value:

template class gtsam::IsLieGroup<T>;

Macros for using the LieConcept.

• An instantiation for use inside unit tests
• A typedef for use inside generic algorithms

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable

GTSAM_CONCEPT_LIE_TYPE

#define GTSAM_CONCEPT_LIE_TYPE

(

T

)

Value:

using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>;