gtsam::traits< QUATERNION_TYPE > Struct Template Reference

#include <Quaternion.h>

Public Types
typedef multiplicative_group_tag	group_flavor
typedef QUATERNION_TYPE	ManifoldType
typedef QUATERNION_TYPE	Q
typedef lie_group_tag	structure_category
Basic manifold traits
enum	{ dimension = 3 }
typedef OptionalJacobian< 3, 3 >	ChartJacobian
typedef Eigen::Matrix< _Scalar, 3, 1, _Options, 3, 1 >	TangentVector

Static Public Member Functions
Group traits
static Q	Identity ()
Lie group traits
static Q	Compose (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={})
static Q	Between (const Q &g, const Q &h, ChartJacobian Hg={}, ChartJacobian Hh={})
static Q	Inverse (const Q &g, ChartJacobian H={})
static Q	Expmap (const Eigen::Ref< const TangentVector > &omega, ChartJacobian H={})
	Exponential map, using the inlined code from Eigen's conversion from axis/angle. More...
static TangentVector	Logmap (const Q &q, ChartJacobian H={})
	We use our own Logmap, as there is a slight bug in Eigen. More...
Manifold traits
static TangentVector	Local (const Q &g, const Q &h, ChartJacobian H1={}, ChartJacobian H2={})
static Q	Retract (const Q &g, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})
Testable
static void	Print (const Q &q, const std::string &str="")
static bool	Equals (const Q &q1, const Q &q2, double tol=1e-8)

Detailed Description

template<typename _Scalar, int _Options>
struct gtsam::traits< QUATERNION_TYPE >

Definition at line 32 of file geometry/Quaternion.h.

Member Typedef Documentation

ChartJacobian

template<typename _Scalar , int _Options>

typedef OptionalJacobian<3, 3> gtsam::traits< QUATERNION_TYPE >::ChartJacobian

Definition at line 51 of file geometry/Quaternion.h.

group_flavor

template<typename _Scalar , int _Options>

typedef multiplicative_group_tag gtsam::traits< QUATERNION_TYPE >::group_flavor

Definition at line 37 of file geometry/Quaternion.h.

ManifoldType

template<typename _Scalar , int _Options>

typedef QUATERNION_TYPE gtsam::traits< QUATERNION_TYPE >::ManifoldType

Definition at line 33 of file geometry/Quaternion.h.

Q

template<typename _Scalar , int _Options>

typedef QUATERNION_TYPE gtsam::traits< QUATERNION_TYPE >::Q

Definition at line 34 of file geometry/Quaternion.h.

structure_category

template<typename _Scalar , int _Options>

typedef lie_group_tag gtsam::traits< QUATERNION_TYPE >::structure_category

Definition at line 36 of file geometry/Quaternion.h.

TangentVector

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1> gtsam::traits< QUATERNION_TYPE >::TangentVector

Definition at line 52 of file geometry/Quaternion.h.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
dimension

Definition at line 48 of file geometry/Quaternion.h.

Member Function Documentation

Between()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Between ( const Q &  g, const Q &  h, ChartJacobian  Hg = {}, ChartJacobian  Hh = {}  )

inlinestatic

Definition at line 64 of file geometry/Quaternion.h.

Compose()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Compose ( const Q &  g, const Q &  h, ChartJacobian  Hg = {}, ChartJacobian  Hh = {}  )

inlinestatic

Definition at line 57 of file geometry/Quaternion.h.

Equals()

template<typename _Scalar , int _Options>

static bool gtsam::traits< QUATERNION_TYPE >::Equals ( const Q &  q1, const Q &  q2, double  tol = 1e-8  )

inlinestatic

Definition at line 176 of file geometry/Quaternion.h.

Expmap()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Expmap ( const Eigen::Ref< const TangentVector > &  omega, ChartJacobian  H = {}  )

inlinestatic

Exponential map, using the inlined code from Eigen's conversion from axis/angle.

Definition at line 79 of file geometry/Quaternion.h.

Identity()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Identity ( )

inlinestatic

Definition at line 41 of file geometry/Quaternion.h.

Inverse()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Inverse ( const Q &  g, ChartJacobian  H = {}  )

inlinestatic

Definition at line 72 of file geometry/Quaternion.h.

Local()

template<typename _Scalar , int _Options>

static TangentVector gtsam::traits< QUATERNION_TYPE >::Local ( const Q &  g, const Q &  h, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 147 of file geometry/Quaternion.h.

Logmap()

template<typename _Scalar , int _Options>

static TangentVector gtsam::traits< QUATERNION_TYPE >::Logmap ( const Q &  q, ChartJacobian  H = {}  )

inlinestatic

We use our own Logmap, as there is a slight bug in Eigen.

Definition at line 98 of file geometry/Quaternion.h.

Print()

template<typename _Scalar , int _Options>

static void gtsam::traits< QUATERNION_TYPE >::Print ( const Q &  q, const std::string &  str = ""  )

inlinestatic

Definition at line 169 of file geometry/Quaternion.h.

Retract()

template<typename _Scalar , int _Options>

static Q gtsam::traits< QUATERNION_TYPE >::Retract ( const Q &  g, const TangentVector &  v, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 157 of file geometry/Quaternion.h.

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

• geometry/Quaternion.h