gtsam::abc_eqf_lib::G< N > Struct Template Reference

#include <ABC.h>

Public Member Functions
	G (const Rot3 &A=Rot3::Identity(), const Matrix3 &a=Matrix3::Zero(), const std::array< Rot3, N > &B=std::array< Rot3, N >{})
	List of SO(3) elements for calibration. More...
G	inv () const
	Group inverse. More...
G	operator* (const G< N > &other) const
	Group multiplication. More...

Static Public Member Functions
static G	exp (const Vector &x)
	Exponential map of the tangent space elements to the group. More...
static G	identity (int n)
	Identity element. More...

Public Attributes
Rot3	A
Matrix3	a
	First SO(3) element. More...
std::array< Rot3, N >	B
	so(3) element (skew-symmetric matrix) More...

Detailed Description

template<size_t N>
struct gtsam::abc_eqf_lib::G< N >

Symmetry group (SO(3) |x so(3)) x SO(3) x ... x SO(3) Each element of the B list is associated with a calibration state

Definition at line 196 of file ABC.h.

Constructor & Destructor Documentation

G()

template<size_t N>

gtsam::abc_eqf_lib::G< N >::G ( const Rot3 &  A = Rot3::Identity(), const Matrix3 &  a = Matrix3::Zero(), const std::array< Rot3, N > &  B = std::array<Rot3, N>{}  )

inline

List of SO(3) elements for calibration.

Initialize the symmetry group G

Definition at line 202 of file ABC.h.

Member Function Documentation

exp()

template<size_t N>

static G gtsam::abc_eqf_lib::G< N >::exp ( const Vector &  x )

inlinestatic

Exponential map of the tangent space elements to the group.

Definition at line 233 of file ABC.h.

identity()

template<size_t N>

static G gtsam::abc_eqf_lib::G< N >::identity ( int  n )

inlinestatic

Identity element.

Definition at line 226 of file ABC.h.

inv()

template<size_t N>

G gtsam::abc_eqf_lib::G< N >::inv ( ) const

inline

Group inverse.

Definition at line 216 of file ABC.h.

operator*()

template<size_t N>

G gtsam::abc_eqf_lib::G< N >::operator* ( const G< N > &  other ) const

inline

Group multiplication.

Definition at line 207 of file ABC.h.

Member Data Documentation

A

template<size_t N>

Rot3 gtsam::abc_eqf_lib::G< N >::A

Definition at line 197 of file ABC.h.

a

template<size_t N>

Matrix3 gtsam::abc_eqf_lib::G< N >::a

First SO(3) element.

Definition at line 198 of file ABC.h.

B

template<size_t N>

std::array<Rot3, N> gtsam::abc_eqf_lib::G< N >::B

so(3) element (skew-symmetric matrix)

Definition at line 199 of file ABC.h.

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

• ABC.h