gtsam  4.1.0
gtsam
gtsam::internal::ScalarTraits< Scalar > Struct Template Reference

Detailed Description

template<typename Scalar>
struct gtsam::internal::ScalarTraits< Scalar >

A helper that implements the traits interface for scalar vector spaces.

Usage: template<> struct traits<Type> : public ScalarTraits<Type> { };

+ Inheritance diagram for gtsam::internal::ScalarTraits< Scalar >:

Group

typedef additive_group_tag group_flavor
 
static Scalar Identity ()
 

Manifold

enum  { dimension = 1 }
 
typedef Scalar ManifoldType
 
typedef Eigen::Matrix< double, 1, 1 > TangentVector
 
typedef OptionalJacobian< 1, 1 > ChartJacobian
 
static TangentVector Local (Scalar origin, Scalar other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Scalar Retract (Scalar origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 

Static Public Member Functions

Testable
static void Print (Scalar m, const std::string &str="")
 
static bool Equals (Scalar v1, Scalar v2, double tol=1e-8)
 
Lie Group
static TangentVector Logmap (Scalar m, ChartJacobian H=boost::none)
 
static Scalar Expmap (const TangentVector &v, ChartJacobian H=boost::none)
 
- Static Public Member Functions inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
static TangentVector Logmap (const Scalar &m, ChartJacobian Hm=boost::none)
 
static Scalar Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)
 
static Scalar Compose (const Scalar &v1, const Scalar &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Scalar Between (const Scalar &v1, const Scalar &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Scalar Inverse (const Scalar &v, ChartJacobian H=boost::none)
 
static int GetDimension (const Scalar &)
 
static TangentVector Local (const Scalar &origin, const Scalar &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Scalar Retract (const Scalar &origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 

Public Types

typedef vector_space_tag structure_category
 
- Public Types inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
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: