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28 template<
typename G,
typename H>
32 typedef std::pair<G, H>
Base;
79 if (H1||H2)
throw std::runtime_error(
"ProductLieGroup::retract derivatives not implemented yet");
80 G g = traits<G>::Retract(this->first,
v.template head<dimension1>());
81 H h = traits<H>::Retract(this->second,
v.template tail<dimension2>());
86 if (H1||H2)
throw std::runtime_error(
"ProductLieGroup::localCoordinates derivatives not implemented yet");
87 typename traits<G>::TangentVector
v1 = traits<G>::Local(this->first,
g.first);
88 typename traits<H>::TangentVector
v2 = traits<H>::Local(this->second,
g.second);
110 H1->template topLeftCorner<dimension1,dimension1>() = D_g_first;
111 H1->template bottomRightCorner<dimension2,dimension2>() = D_h_second;
113 if (H2) *H2 = Jacobian::Identity();
123 H1->template topLeftCorner<dimension1,dimension1>() = D_g_first;
124 H1->template bottomRightCorner<dimension2,dimension2>() = D_h_second;
126 if (H2) *H2 = Jacobian::Identity();
135 D->template topLeftCorner<dimension1,dimension1>() = D_g_first;
136 D->template bottomRightCorner<dimension2,dimension2>() = D_h_second;
146 Hv->template topLeftCorner<dimension1,dimension1>() = D_g_first;
147 Hv->template bottomRightCorner<dimension2,dimension2>() = D_h_second;
159 Hp->template topLeftCorner<dimension1,dimension1>() = D_g_first;
160 Hp->template bottomRightCorner<dimension2,dimension2>() = D_h_second;
178 template<
typename G,
typename H>
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ProductLieGroup between(const ProductLieGroup &g) const
TangentVector localCoordinates(const ProductLieGroup &g, ChartJacobian H1={}, ChartJacobian H2={}) const
Annotation indicating that a class derives from another given type.
Eigen::Matrix< double, dimension, dimension > Jacobian
ProductLieGroup compose(const ProductLieGroup &g) const
ProductLieGroup(const Base &base)
OptionalJacobian< dimension, dimension > ChartJacobian
static TangentVector LocalCoordinates(const ProductLieGroup &p, ChartJacobian Hp={})
Group operator syntax flavors.
Pose2_ Expmap(const Vector3_ &xi)
ProductLieGroup operator*(const ProductLieGroup &other) const
ProductLieGroup inverse(ChartJacobian D) const
ProductLieGroup between(const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2={}) const
Eigen::Matrix< double, dimension2, dimension2 > Jacobian2
ProductLieGroup compose(const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2={}) const
static ProductLieGroup Identity()
ProductLieGroup expmap(const TangentVector &v) const
static ProductLieGroup Expmap(const TangentVector &v, ChartJacobian Hv={})
void g(const string &key, int i)
BetweenFactor< Rot3 > Between
ProductLieGroup retract(const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) const
Base class and basic functions for Lie types.
TangentVector logmap(const ProductLieGroup &g) const
ProductLieGroup(const G &g, const H &h)
ProductLieGroup inverse() const
static TangentVector Logmap(const ProductLieGroup &p, ChartJacobian Hp={})
GTSAM_CONCEPT_ASSERT(IsLieGroup< G >)
JacobiRotation< float > G
Array< int, Dynamic, 1 > v
Eigen::Matrix< double, dimension1, dimension1 > Jacobian1
The matrix class, also used for vectors and row-vectors.
multiplicative_group_tag group_flavor
ProductLieGroup()
Default constructor yields identity.
Eigen::Matrix< double, dimension, 1 > TangentVector
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:49