vertigo::SwitchVariableLinear Struct Reference

#include <switchVariableLinear.h>

List of all members.

Public Member Functions
SwitchVariableLinear	between (const SwitchVariableLinear &l2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
SwitchVariableLinear	compose (const SwitchVariableLinear &p) const
size_t	dim () const
bool	equals (const SwitchVariableLinear &expected, double tol=1e-5) const
SwitchVariableLinear	inverse () const
gtsam::Vector	localCoordinates (const SwitchVariableLinear &t2) const
void	print (const std::string &name="") const
SwitchVariableLinear	retract (const gtsam::Vector &v) const
	SwitchVariableLinear ()
	SwitchVariableLinear (double d)
double	value () const
Static Public Member Functions
static size_t	Dim ()
static SwitchVariableLinear	Expmap (const gtsam::Vector &v)
static SwitchVariableLinear	identity ()
static gtsam::Vector	Logmap (const SwitchVariableLinear &p)
Private Attributes
double	d_

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Detailed Description

SwitchVariableLinear is a wrapper around double to allow it to be a Lie type

Definition at line 21 of file switchVariableLinear.h.

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Constructor & Destructor Documentation

vertigo::SwitchVariableLinear::SwitchVariableLinear

(

)

[inline]

default constructor

Definition at line 24 of file switchVariableLinear.h.

vertigo::SwitchVariableLinear::SwitchVariableLinear

(

double

d

)

[inline]

wrap a double

Definition at line 27 of file switchVariableLinear.h.

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Member Function Documentation

SwitchVariableLinear vertigo::SwitchVariableLinear::between	(	const SwitchVariableLinear &	l2,
		boost::optional< gtsam::Matrix & >	H1 = boost::none,
		boost::optional< gtsam::Matrix & >	H2 = boost::none
	)		const [inline]

between operation

Definition at line 77 of file switchVariableLinear.h.

SwitchVariableLinear vertigo::SwitchVariableLinear::compose

(

const SwitchVariableLinear &

p

)

const [inline]

compose with another object

Definition at line 72 of file switchVariableLinear.h.

size_t vertigo::SwitchVariableLinear::dim

(

)

const [inline]

Returns dimensionality of the tangent space

Definition at line 48 of file switchVariableLinear.h.

static size_t vertigo::SwitchVariableLinear::Dim

(

)

[inline, static]

Definition at line 49 of file switchVariableLinear.h.

bool vertigo::SwitchVariableLinear::equals	(	const SwitchVariableLinear &	expected,
		double	tol = 1e-5
	)		const [inline]

equality up to tolerance

Definition at line 41 of file switchVariableLinear.h.

static SwitchVariableLinear vertigo::SwitchVariableLinear::Expmap

(

const gtsam::Vector &

v

)

[inline, static]

Expmap around identity

Definition at line 93 of file switchVariableLinear.h.

static SwitchVariableLinear vertigo::SwitchVariableLinear::identity

(

)

[inline, static]

identity

Definition at line 67 of file switchVariableLinear.h.

SwitchVariableLinear vertigo::SwitchVariableLinear::inverse

(

)

const [inline]

invert the object and yield a new one

Definition at line 86 of file switchVariableLinear.h.

gtsam::Vector vertigo::SwitchVariableLinear::localCoordinates

(

const SwitchVariableLinear &

t2

)

const [inline]

Returns:

the local coordinates of another object

Definition at line 62 of file switchVariableLinear.h.

static gtsam::Vector vertigo::SwitchVariableLinear::Logmap

(

const SwitchVariableLinear &

p

)

[inline, static]

Logmap around identity - just returns with default cast back

Definition at line 96 of file switchVariableLinear.h.

void vertigo::SwitchVariableLinear::print

(

const std::string &

name = ""

)

const [inline]

print

Parameters:

s	optional string naming the object

Definition at line 36 of file switchVariableLinear.h.

SwitchVariableLinear vertigo::SwitchVariableLinear::retract

(

const gtsam::Vector &

v

)

const [inline]

Update the SwitchVariableLinear with a tangent space update

Definition at line 52 of file switchVariableLinear.h.

double vertigo::SwitchVariableLinear::value

(

)

const [inline]

access the underlying value

Definition at line 33 of file switchVariableLinear.h.

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Member Data Documentation

double vertigo::SwitchVariableLinear::d_ [private]

Definition at line 99 of file switchVariableLinear.h.

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

• switchVariableLinear.h