Template Struct LieGroupWrapperTpl

• Defined in File liegroups.hpp

Struct Documentation

template<class LieGroupType>
struct LieGroupWrapperTpl

Public Types

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> ConfigVector_t

typedef Eigen::Matrix<double, Eigen::Dynamic, 1> TangentVector_t

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> JacobianMatrix_t

Public Static Functions

static inline ConfigVector_t integrate(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)

static inline ConfigVector_t interpolate(const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const double &u)

static inline TangentVector_t difference(const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1)

static inline JacobianMatrix_t dDifference1(const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg)

static inline JacobianMatrix_t dDifference2(const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, const JacobianMatrix_t &Jin, int self)

static inline JacobianMatrix_t dDifference3(const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, int self, const JacobianMatrix_t &Jin)

static inline JacobianMatrix_t dIntegrate(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const ArgumentPosition arg)

static inline JacobianMatrix_t dIntegrate_dq1(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)

static inline JacobianMatrix_t dIntegrate_dq2(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)

static inline JacobianMatrix_t dIntegrate_dq3(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)

static inline JacobianMatrix_t dIntegrate_dv1(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)

static inline JacobianMatrix_t dIntegrate_dv2(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)

static inline JacobianMatrix_t dIntegrate_dv3(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)

static inline JacobianMatrix_t dIntegrateTransport_proxy(const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &J, const ArgumentPosition arg)