gtsam::internal::LieGroupTraits< Class > Struct Template Reference

Detailed Description

template<class Class>
struct gtsam::internal::LieGroupTraits< Class >

A helper class that implements the traits interface for GTSAM lie groups.

To use this for your gtsam type, define: template<> struct traits<Class> : public internal::LieGroupTraits<Class> {}; Assumes existence of: identity, dimension, localCoordinates, retract, and additionally Logmap, Expmap, compose, between, and inverse

Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:

Manifold
enum	{ dimension = Class::dimension }
typedef Class	ManifoldType
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector
typedef OptionalJacobian< dimension, dimension >	ChartJacobian
static TangentVector	Local (const Class &origin, const Class &other, ChartJacobian Horigin=boost::none, ChartJacobian Hother=boost::none)
static Class	Retract (const Class &origin, const TangentVector &v, ChartJacobian Horigin=boost::none, ChartJacobian Hv=boost::none)

Group
typedef multiplicative_group_tag	group_flavor
static Class	Identity ()

Static Public Member Functions
Lie Group
static TangentVector	Logmap (const Class &m, ChartJacobian Hm=boost::none)
static Class	Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)
static Class	Compose (const Class &m1, const Class &m2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
static Class	Between (const Class &m1, const Class &m2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
static Class	Inverse (const Class &m, ChartJacobian H=boost::none)
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Class, Class::dimension >
static int	GetDimension (const Class &)

Public Types
typedef lie_group_tag	structure_category

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The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/base/Lie.h