gtsam 4.1.1
gtsam
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gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols > Struct Template Reference

Manifold

enum  { dimension = Eigen::Dynamic }
 
typedef Eigen::VectorXd TangentVector
 
typedef Eigen::MatrixXd Jacobian
 
typedef OptionalJacobian< dimension, dimension > ChartJacobian
 
typedef Dynamic ManifoldType
 
static int GetDimension (const Dynamic &m)
 
static Jacobian Eye (const Dynamic &m)
 
static TangentVector Local (const Dynamic &m, const Dynamic &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Dynamic Retract (const Dynamic &m, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 

Group

typedef additive_group_tag group_flavor
 
static Dynamic Identity ()
 

Static Public Member Functions

Testable
static void Print (const Dynamic &m, const std::string &str="")
 
static bool Equals (const Dynamic &v1, const Dynamic &v2, double tol=1e-8)
 
Lie Group
static TangentVector Logmap (const Dynamic &m, ChartJacobian H=boost::none)
 
static Dynamic Expmap (const TangentVector &, ChartJacobian H=boost::none)
 
static Dynamic Inverse (const Dynamic &m, ChartJacobian H=boost::none)
 
static Dynamic Compose (const Dynamic &v1, const Dynamic &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
 
static Dynamic Between (const Dynamic &v1, const Dynamic &v2, 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 > Dynamic
 
The documentation for this struct was generated from the following file: