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.
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const Class & | derived () const |
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Class | compose (const Class &g) const |
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Class | between (const Class &g) const |
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Class | compose (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
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Class | between (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
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Class | inverse (ChartJacobian H) const |
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Class | expmap (const TangentVector &v) const |
| | expmap as required by manifold concept Applies exponential map to v and composes with *this
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TangentVector | logmap (const Class &g) const |
| | logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
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Class | expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| | expmap with optional derivatives
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TangentVector | logmap (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| | logmap with optional derivatives
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Class | retract (const TangentVector &v) const |
| | retract as required by manifold concept: applies v at *this
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TangentVector | localCoordinates (const Class &g) const |
| | localCoordinates as required by manifold concept: finds tangent vector between *this and g
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Class | retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| | retract with optional derivatives
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TangentVector | localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const |
| | localCoordinates with optional derivatives
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SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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GTSAM_EXPORT SOn | between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const |
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static Class | Retract (const TangentVector &v) |
| | Retract at origin: possible in Lie group because it has an identity.
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static TangentVector | LocalCoordinates (const Class &g) |
| | LocalCoordinates at origin: possible in Lie group because it has an identity.
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static Class | Retract (const TangentVector &v, ChartJacobian H) |
| | Retract at origin with optional derivative.
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static TangentVector | LocalCoordinates (const Class &g, ChartJacobian H) |
| | LocalCoordinates at origin with optional derivative.
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1.16.1