Public Types | List of all members
gtsam::internal::LieGroupTraits< Class > Struct Template Reference

#include <Lie.h>

Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:
Inheritance graph
[legend]

Public Types

typedef lie_group_tag structure_category
 

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 &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
 
static Class Between (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
 
static Class Inverse (const Class &m, ChartJacobian H={})
 
- 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

typedef Class ManifoldType
 
typedef Eigen::Matrix< double, dimension, 1 > TangentVector
 
typedef OptionalJacobian< dimension, dimensionChartJacobian
 
constexpr static auto dimension = Class::dimension
 
static TangentVector Local (const Class &origin, const Class &other, ChartJacobian Horigin={}, ChartJacobian Hother={})
 
static Class Retract (const Class &origin, const TangentVector &v, ChartJacobian Horigin={}, ChartJacobian Hv={})
 

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

Definition at line 174 of file Lie.h.

Member Typedef Documentation

◆ ChartJacobian

Definition at line 188 of file Lie.h.

◆ group_flavor

Definition at line 179 of file Lie.h.

◆ ManifoldType

template<class Class >
typedef Class gtsam::internal::LieGroupTraits< Class >::ManifoldType

Definition at line 185 of file Lie.h.

◆ structure_category

Definition at line 175 of file Lie.h.

◆ TangentVector

template<class Class >
typedef Eigen::Matrix<double, dimension, 1> gtsam::internal::LieGroupTraits< Class >::TangentVector

Definition at line 187 of file Lie.h.

Member Function Documentation

◆ Between()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Between ( const Class m1,
const Class m2,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 216 of file Lie.h.

◆ Compose()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Compose ( const Class m1,
const Class m2,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 211 of file Lie.h.

◆ Expmap()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Expmap ( const TangentVector v,
ChartJacobian  Hv = {} 
)
inlinestatic

Definition at line 207 of file Lie.h.

◆ Identity()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Identity ( )
inlinestatic

Definition at line 180 of file Lie.h.

◆ Inverse()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Inverse ( const Class m,
ChartJacobian  H = {} 
)
inlinestatic

Definition at line 221 of file Lie.h.

◆ Local()

template<class Class >
static TangentVector gtsam::internal::LieGroupTraits< Class >::Local ( const Class origin,
const Class other,
ChartJacobian  Horigin = {},
ChartJacobian  Hother = {} 
)
inlinestatic

Definition at line 190 of file Lie.h.

◆ Logmap()

template<class Class >
static TangentVector gtsam::internal::LieGroupTraits< Class >::Logmap ( const Class m,
ChartJacobian  Hm = {} 
)
inlinestatic

Definition at line 203 of file Lie.h.

◆ Retract()

template<class Class >
static Class gtsam::internal::LieGroupTraits< Class >::Retract ( const Class origin,
const TangentVector v,
ChartJacobian  Horigin = {},
ChartJacobian  Hv = {} 
)
inlinestatic

Definition at line 195 of file Lie.h.

Member Data Documentation

◆ dimension

template<class Class >
constexpr static auto gtsam::internal::LieGroupTraits< Class >::dimension = Class::dimension
inlinestaticconstexpr

Definition at line 186 of file Lie.h.


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


gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:24:51