gtsam 4.1.1 gtsam
gtsam::LieGroup< Class, N > Struct Template Reference

## Detailed Description

template<class Class, int N>
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.

## Public Member Functions

const Class & derived () const

Class compose (const Class &g) const

Class between (const Class &g) const

Class compose (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

Class between (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const

Class inverse (ChartJacobian H) const

Class expmap (const TangentVector &v) const
expmap as required by manifold concept Applies exponential map to v and composes with *this

TangentVector logmap (const Class &g) const
logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g

Class expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
expmap with optional derivatives

TangentVector logmap (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
logmap with optional derivatives

Class retract (const TangentVector &v) const
retract as required by manifold concept: applies v at *this

TangentVector localCoordinates (const Class &g) const
localCoordinates as required by manifold concept: finds tangent vector between *this and g

Class retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const
retract with optional derivatives

TangentVector localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const
localCoordinates with optional derivatives

SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

## Static Public Member Functions

static Class Retract (const TangentVector &v)
Retract at origin: possible in Lie group because it has an identity.

static TangentVector LocalCoordinates (const Class &g)
LocalCoordinates at origin: possible in Lie group because it has an identity.

static Class Retract (const TangentVector &v, ChartJacobian H)
Retract at origin with optional derivative.

static TangentVector LocalCoordinates (const Class &g, ChartJacobian H)
LocalCoordinates at origin with optional derivative.

## Public Types

enum  { dimension = N }

typedef OptionalJacobian< N, N > ChartJacobian

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

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

The documentation for this struct was generated from the following file:
• /Users/dellaert/git/github/gtsam/base/Lie.h