Lie.h File Reference

Base class and basic functions for Lie types. More...

#include <gtsam/base/Manifold.h>
#include <gtsam/base/Group.h>

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Classes
class	gtsam::IsLieGroup< T >
struct	gtsam::lie_group_tag
	tag to assert a type is a Lie group More...
struct	gtsam::internal::LieGroup< Class >
	Both LieGroupTraits and Testable. More...
struct	gtsam::LieGroup< Class, N >
struct	gtsam::internal::LieGroupTraits< Class >
class	gtsam::TransformCovariance< T >

Namespaces
	gtsam
	traits
	gtsam::internal

Macros
#define	GTSAM_CONCEPT_LIE_INST(T)   template class gtsam::IsLieGroup<T>;
#define	GTSAM_CONCEPT_LIE_TYPE(T)   using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>;

Functions
template<class T >
T	gtsam::BCH (const T &X, const T &Y)
	AGC: bracket() only appears in Rot3 tests, should this be used elsewhere? More...
template<class Class >
Class	gtsam::between_default (const Class &l1, const Class &l2)
template<class T >
T	gtsam::expm (const Vector &x, int K=7)
template<class Class >
Class	gtsam::expmap_default (const Class &t, const Vector &d)
template<typename T >
T	gtsam::interpolate (const T &X, const T &Y, double t, typename MakeOptionalJacobian< T, T >::type Hx={}, typename MakeOptionalJacobian< T, T >::type Hy={})
template<class Class >
Vector	gtsam::logmap_default (const Class &l0, const Class &lp)
template<class T >
Matrix	gtsam::wedge (const Vector &x)

Detailed Description

Base class and basic functions for Lie types.

Author

Richard Roberts

Alex Cunningham

Frank Dellaert

Mike Bosse

Duy Nguyen Ta

Yotam Stern

Definition in file Lie.h.

Macro Definition Documentation

GTSAM_CONCEPT_LIE_INST

#define GTSAM_CONCEPT_LIE_INST

(

T

)

template class gtsam::IsLieGroup<T>;

Macros for using the LieConcept

• An instantiation for use inside unit tests
• A typedef for use inside generic algorithms

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable

Definition at line 372 of file Lie.h.

GTSAM_CONCEPT_LIE_TYPE

#define GTSAM_CONCEPT_LIE_TYPE

(

T

)

using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>;

Definition at line 373 of file Lie.h.