gtsam  4.0.0 gtsam
gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > > Struct Template Reference
Inheritance diagram for gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > >:

Group

static Fixed Identity ()

Manifold

enum  { dimension = M*N }

typedef Fixed ManifoldType

typedef Eigen::Matrix< double, dimension, 1 > TangentVector

typedef Eigen::Matrix< double, dimension, dimension > Jacobian

typedef OptionalJacobian< dimension, dimension > ChartJacobian

static TangentVector Local (const Fixed &origin, const Fixed &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Fixed Retract (const Fixed &origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

Static Public Member Functions

Testable
static void Print (const Fixed &m, const std::string &str="")

static bool Equals (const Fixed &v1, const Fixed &v2, double tol=1e-8)

Lie Group
static TangentVector Logmap (const Fixed &m, ChartJacobian H=boost::none)

static Fixed Expmap (const TangentVector &v, ChartJacobian H=boost::none)

Static Public Member Functions inherited from gtsam::internal::VectorSpaceImpl< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >, M *N >
static TangentVector Logmap (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &m, ChartJacobian Hm=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Compose (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Between (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Inverse (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v, ChartJacobian H=boost::none)

static int GetDimension (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &)

static TangentVector Local (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Retract (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

Public Types

typedef vector_space_tag structure_category

typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Fixed

Public Types inherited from gtsam::internal::VectorSpaceImpl< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >, M *N >
typedef Eigen::Matrix< double, N, 1 > TangentVector

typedef OptionalJacobian< N, N > ChartJacobian

typedef Eigen::Matrix< double, N, N > Jacobian

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