gtsam 4.1.1
gtsam
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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 |