gtsam::internal::VectorSpaceImpl< Class, N > Struct Template Reference

VectorSpaceTraits Implementation for Fixed sizes. More...

#include <VectorSpace.h>

Static Public Member Functions
Lie Group
static TangentVector	Logmap (const Class &m, ChartJacobian Hm={})
static Class	Expmap (const TangentVector &v, ChartJacobian Hv={})
static Class	Compose (const Class &v1, const Class &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Between (const Class &v1, const Class &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Inverse (const Class &v, ChartJacobian H={})

Manifold
typedef Eigen::Matrix< double, N, 1 >	TangentVector
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian
static int	GetDimension (const Class &)
static TangentVector	Local (const Class &origin, const Class &other, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Retract (const Class &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Detailed Description

template<class Class, int N>
struct gtsam::internal::VectorSpaceImpl< Class, N >

VectorSpaceTraits Implementation for Fixed sizes.

Definition at line 25 of file VectorSpace.h.

Member Typedef Documentation

ChartJacobian

template<class Class, int N>

typedef OptionalJacobian<N, N> gtsam::internal::VectorSpaceImpl< Class, N >::ChartJacobian

Definition at line 30 of file VectorSpace.h.

Jacobian

template<class Class, int N>

typedef Eigen::Matrix<double, N, N> gtsam::internal::VectorSpaceImpl< Class, N >::Jacobian

Definition at line 31 of file VectorSpace.h.

TangentVector

template<class Class, int N>

typedef Eigen::Matrix<double, N, 1> gtsam::internal::VectorSpaceImpl< Class, N >::TangentVector

Definition at line 29 of file VectorSpace.h.

Member Function Documentation

Between()

template<class Class, int N>

static Class gtsam::internal::VectorSpaceImpl< Class, N >::Between ( const Class &  v1, const Class &  v2, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 71 of file VectorSpace.h.

Compose()

template<class Class, int N>

static Class gtsam::internal::VectorSpaceImpl< Class, N >::Compose ( const Class &  v1, const Class &  v2, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 64 of file VectorSpace.h.

Expmap()

template<class Class, int N>

static Class gtsam::internal::VectorSpaceImpl< Class, N >::Expmap ( const TangentVector &  v, ChartJacobian  Hv = {}  )

inlinestatic

Definition at line 59 of file VectorSpace.h.

GetDimension()

template<class Class, int N>

static int gtsam::internal::VectorSpaceImpl< Class, N >::GetDimension ( const Class &  )

inlinestatic

Definition at line 32 of file VectorSpace.h.

Inverse()

template<class Class, int N>

static Class gtsam::internal::VectorSpaceImpl< Class, N >::Inverse ( const Class &  v, ChartJacobian  H = {}  )

inlinestatic

Definition at line 78 of file VectorSpace.h.

Local()

template<class Class, int N>

static TangentVector gtsam::internal::VectorSpaceImpl< Class, N >::Local ( const Class &  origin, const Class &  other, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 34 of file VectorSpace.h.

Logmap()

template<class Class, int N>

static TangentVector gtsam::internal::VectorSpaceImpl< Class, N >::Logmap ( const Class &  m, ChartJacobian  Hm = {}  )

inlinestatic

Definition at line 54 of file VectorSpace.h.

Retract()

template<class Class, int N>

static Class gtsam::internal::VectorSpaceImpl< Class, N >::Retract ( const Class &  origin, const TangentVector &  v, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 42 of file VectorSpace.h.

---

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

• VectorSpace.h