vertigo::SwitchVariableLinear Struct Reference

#include <switchVariableLinear.h>

Inheritance diagram for vertigo::SwitchVariableLinear:

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_

Detailed Description

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

Definition at line 21 of file switchVariableLinear.h.

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.

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 ( )

inlinestatic

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 )

inlinestatic

Expmap around identity

Definition at line 93 of file switchVariableLinear.h.

static SwitchVariableLinear vertigo::SwitchVariableLinear::identity ( )

inlinestatic

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 )

inlinestatic

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.

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