gtsam  4.1.0
gtsam::internal::LieGroupTraits< Class > Struct Template Reference

Detailed Description

template<class Class>
struct gtsam::internal::LieGroupTraits< Class >

A helper class that implements the traits interface for GTSAM lie groups.

To use this for your gtsam type, define: template<> struct traits<Class> : public internal::LieGroupTraits<Class> {}; Assumes existence of: identity, dimension, localCoordinates, retract, and additionally Logmap, Expmap, compose, between, and inverse

+ Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:


typedef multiplicative_group_tag group_flavor
static Class Identity ()


enum  { dimension = Class::dimension }
typedef Class ManifoldType
typedef Eigen::Matrix< double, dimension, 1 > TangentVector
typedef OptionalJacobian< dimension, dimension > ChartJacobian
static TangentVector Local (const Class &origin, const Class &other, ChartJacobian Horigin=boost::none, ChartJacobian Hother=boost::none)
static Class Retract (const Class &origin, const TangentVector &v, ChartJacobian Horigin=boost::none, ChartJacobian Hv=boost::none)

Static Public Member Functions

Lie Group
static TangentVector Logmap (const Class &m, ChartJacobian Hm=boost::none)
static Class Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)
static Class Compose (const Class &m1, const Class &m2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
static Class Between (const Class &m1, const Class &m2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
static Class Inverse (const Class &m, ChartJacobian H=boost::none)
- Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Class, Class::dimension >
static int GetDimension (const Class &)

Public Types

typedef lie_group_tag structure_category

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