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)

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:

Manifold

Group