#include <Lie.h>
Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:
Public Types | |
| typedef lie_group_tag | structure_category |
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 &) |
Group | |
| typedef multiplicative_group_tag | group_flavor |
| static Class | Identity () |
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) |
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
Member Typedef Documentation
template<class Class>
| typedef OptionalJacobian<dimension, dimension> gtsam::internal::LieGroupTraits< Class >::ChartJacobian |
template<class Class>
| typedef multiplicative_group_tag gtsam::internal::LieGroupTraits< Class >::group_flavor |
template<class Class>
| typedef Class gtsam::internal::LieGroupTraits< Class >::ManifoldType |
template<class Class>
| typedef lie_group_tag gtsam::internal::LieGroupTraits< Class >::structure_category |
template<class Class>
| typedef Eigen::Matrix<double, dimension, 1> gtsam::internal::LieGroupTraits< Class >::TangentVector |
Member Enumeration Documentation
Member Function Documentation
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The documentation for this struct was generated from the following file: