gtsam 4.1.1
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gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > > Struct Template Reference
+ Inheritance diagram for gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > >:

Manifold

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

Group

typedef additive_group_tag group_flavor
 
static Fixed Identity ()
 

Static Public Member Functions

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

Public Types

typedef vector_space_tag structure_category
 
typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Fixed
 
- Public Types inherited from gtsam::internal::VectorSpaceImpl< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >, M *N >
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: