gtsam::internal::ScalarTraits< Scalar > Struct Template Reference

#include <VectorSpace.h>

Inheritance diagram for gtsam::internal::ScalarTraits< Scalar >:

Public Types
typedef vector_space_tag	structure_category
Public Types inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
typedef Eigen::Matrix< double, N, 1 >	TangentVector
typedef OptionalJacobian< N, N >	ChartJacobian
typedef Eigen::Matrix< double, N, N >	Jacobian

Static Public Member Functions
Testable
static void	Print (Scalar m, const std::string &str="")
static bool	Equals (Scalar v1, Scalar v2, double tol=1e-8)
Lie Group
static TangentVector	Logmap (Scalar m, ChartJacobian H={})
static Scalar	Expmap (const TangentVector &v, ChartJacobian H={})
Static Public Member Functions inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
static TangentVector	Logmap (const Scalar &m, ChartJacobian Hm={})
static Scalar	Expmap (const TangentVector &v, ChartJacobian Hv={})
static Scalar	Compose (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Between (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Inverse (const Scalar &v, ChartJacobian H={})
static int	GetDimension (const Scalar &)
static TangentVector	Local (const Scalar &origin, const Scalar &other, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Retract (const Scalar &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Group
typedef additive_group_tag	group_flavor
static Scalar	Identity ()

Manifold
enum	{ dimension = 1 }
typedef Scalar	ManifoldType
typedef Eigen::Matrix< double, 1, 1 >	TangentVector
typedef OptionalJacobian< 1, 1 >	ChartJacobian
static TangentVector	Local (Scalar origin, Scalar other, ChartJacobian H1={}, ChartJacobian H2={})
static Scalar	Retract (Scalar origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Detailed Description

template<typename Scalar>
struct gtsam::internal::ScalarTraits< Scalar >

A helper that implements the traits interface for scalar vector spaces. Usage: template<> struct traits<Type> : public ScalarTraits<Type> { };

Definition at line 212 of file VectorSpace.h.

Member Typedef Documentation

ChartJacobian

template<typename Scalar >

typedef OptionalJacobian<1, 1> gtsam::internal::ScalarTraits< Scalar >::ChartJacobian

Definition at line 237 of file VectorSpace.h.

group_flavor

template<typename Scalar >

typedef additive_group_tag gtsam::internal::ScalarTraits< Scalar >::group_flavor

Definition at line 228 of file VectorSpace.h.

ManifoldType

template<typename Scalar >

typedef Scalar gtsam::internal::ScalarTraits< Scalar >::ManifoldType

Definition at line 234 of file VectorSpace.h.

structure_category

template<typename Scalar >

typedef vector_space_tag gtsam::internal::ScalarTraits< Scalar >::structure_category

Definition at line 214 of file VectorSpace.h.

TangentVector

template<typename Scalar >

typedef Eigen::Matrix<double, 1, 1> gtsam::internal::ScalarTraits< Scalar >::TangentVector

Definition at line 236 of file VectorSpace.h.

Member Enumeration Documentation

anonymous enum

template<typename Scalar >

anonymous enum

Enumerator
dimension

Definition at line 235 of file VectorSpace.h.

Member Function Documentation

Equals()

template<typename Scalar >

static bool gtsam::internal::ScalarTraits< Scalar >::Equals ( Scalar  v1, Scalar  v2, double  tol = 1e-8  )

inlinestatic

Definition at line 221 of file VectorSpace.h.

Expmap()

template<typename Scalar >

static Scalar gtsam::internal::ScalarTraits< Scalar >::Expmap ( const TangentVector &  v, ChartJacobian  H = {}  )

inlinestatic

Definition at line 263 of file VectorSpace.h.

Identity()

template<typename Scalar >

static Scalar gtsam::internal::ScalarTraits< Scalar >::Identity ( )

inlinestatic

Definition at line 229 of file VectorSpace.h.

Local()

template<typename Scalar >

static TangentVector gtsam::internal::ScalarTraits< Scalar >::Local ( Scalar  origin, Scalar  other, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 239 of file VectorSpace.h.

Logmap()

template<typename Scalar >

static TangentVector gtsam::internal::ScalarTraits< Scalar >::Logmap ( Scalar  m, ChartJacobian  H = {}  )

inlinestatic

Definition at line 258 of file VectorSpace.h.

Print()

template<typename Scalar >

static void gtsam::internal::ScalarTraits< Scalar >::Print ( Scalar  m, const std::string &  str = ""  )

inlinestatic

Definition at line 218 of file VectorSpace.h.

Retract()

template<typename Scalar >

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

inlinestatic

Definition at line 248 of file VectorSpace.h.

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

• VectorSpace.h