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)   template class gtsam::IsLieGroup<T>;
	Macros for using the LieConcept. More...
#define	GTSAM_CONCEPT_LIE_TYPE(T)   using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<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. More...
template<class Class >
Vector	gtsam::logmap_default (const Class &l0, const Class &lp)
	Log map centered at l0, s.t. More...
template<class Class >
Class	gtsam::expmap_default (const Class &t, const Vector &d)
	Exponential map centered at l0, s.t. More...
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. More...
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. More...
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. More...

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

)

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