gtsam  4.1.0
gtsam
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.


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