Public Types | List of all members
gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols > Struct Template Reference

#include <VectorSpace.h>

Public Types

typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > Dynamic
 
typedef vector_space_tag structure_category
 

Static Public Member Functions

Testable
static void Print (const Dynamic &m, const std::string &str="")
 
static bool Equals (const Dynamic &v1, const Dynamic &v2, double tol=1e-8)
 

Group

typedef additive_group_tag group_flavor
 
static Dynamic Identity ()
 

Manifold

typedef Eigen::VectorXd TangentVector
 
typedef Eigen::MatrixXd Jacobian
 
typedef OptionalJacobian< dimension, dimension > ChartJacobian
 
typedef Dynamic ManifoldType
 
constexpr static auto dimension = Eigen::Dynamic
 
static int GetDimension (const Dynamic &m)
 
static Jacobian Eye (const Dynamic &m)
 
static TangentVector Local (const Dynamic &m, const Dynamic &other, ChartJacobian H1={}, ChartJacobian H2={})
 
static Dynamic Retract (const Dynamic &m, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})
 

Lie Group

using LieAlgebra = Dynamic
 
static TangentVector Logmap (const Dynamic &m, ChartJacobian H={})
 
static Dynamic Expmap (const TangentVector &, ChartJacobian H={})
 
static Dynamic Inverse (const Dynamic &m, ChartJacobian H={})
 
static Dynamic Compose (const Dynamic &v1, const Dynamic &v2, ChartJacobian H1={}, ChartJacobian H2={})
 
static Dynamic Between (const Dynamic &v1, const Dynamic &v2, ChartJacobian H1={}, ChartJacobian H2={})
 
static LieAlgebra Hat (const TangentVector &v)
 
static TangentVector Vee (const LieAlgebra &X)
 

Detailed Description

template<int M, int N, int Options, int MaxRows, int MaxCols>
struct gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >

Definition at line 363 of file VectorSpace.h.

Member Typedef Documentation

◆ ChartJacobian

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef OptionalJacobian<dimension, dimension> gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::ChartJacobian

Definition at line 392 of file VectorSpace.h.

◆ Dynamic

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Dynamic

Definition at line 366 of file VectorSpace.h.

◆ group_flavor

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef additive_group_tag gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::group_flavor

Definition at line 381 of file VectorSpace.h.

◆ Jacobian

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef Eigen::MatrixXd gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Jacobian

Definition at line 391 of file VectorSpace.h.

◆ LieAlgebra

template<int M, int N, int Options, int MaxRows, int MaxCols>
using gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::LieAlgebra = Dynamic

Definition at line 423 of file VectorSpace.h.

◆ ManifoldType

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::ManifoldType

Definition at line 393 of file VectorSpace.h.

◆ structure_category

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef vector_space_tag gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::structure_category

Definition at line 365 of file VectorSpace.h.

◆ TangentVector

template<int M, int N, int Options, int MaxRows, int MaxCols>
typedef Eigen::VectorXd gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::TangentVector

Definition at line 390 of file VectorSpace.h.

Member Function Documentation

◆ Between()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Between ( const Dynamic &  v1,
const Dynamic &  v2,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 449 of file VectorSpace.h.

◆ Compose()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Compose ( const Dynamic &  v1,
const Dynamic &  v2,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 442 of file VectorSpace.h.

◆ Equals()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static bool gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Equals ( const Dynamic &  v1,
const Dynamic &  v2,
double  tol = 1e-8 
)
inlinestatic

Definition at line 373 of file VectorSpace.h.

◆ Expmap()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Expmap ( const TangentVector &  ,
ChartJacobian  H = {} 
)
inlinestatic

Definition at line 432 of file VectorSpace.h.

◆ Eye()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Jacobian gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Eye ( const Dynamic &  m)
inlinestatic

Definition at line 399 of file VectorSpace.h.

◆ GetDimension()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static int gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::GetDimension ( const Dynamic &  m)
inlinestatic

Definition at line 395 of file VectorSpace.h.

◆ Hat()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static LieAlgebra gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Hat ( const TangentVector &  v)
inlinestatic

Definition at line 456 of file VectorSpace.h.

◆ Identity()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Identity ( )
inlinestatic

Definition at line 382 of file VectorSpace.h.

◆ Inverse()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Inverse ( const Dynamic &  m,
ChartJacobian  H = {} 
)
inlinestatic

Definition at line 437 of file VectorSpace.h.

◆ Local()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static TangentVector gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Local ( const Dynamic &  m,
const Dynamic &  other,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 404 of file VectorSpace.h.

◆ Logmap()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static TangentVector gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Logmap ( const Dynamic &  m,
ChartJacobian  H = {} 
)
inlinestatic

Definition at line 425 of file VectorSpace.h.

◆ Print()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static void gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Print ( const Dynamic &  m,
const std::string &  str = "" 
)
inlinestatic

Definition at line 370 of file VectorSpace.h.

◆ Retract()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static Dynamic gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Retract ( const Dynamic &  m,
const TangentVector &  v,
ChartJacobian  H1 = {},
ChartJacobian  H2 = {} 
)
inlinestatic

Definition at line 413 of file VectorSpace.h.

◆ Vee()

template<int M, int N, int Options, int MaxRows, int MaxCols>
static TangentVector gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::Vee ( const LieAlgebra &  X)
inlinestatic

Definition at line 460 of file VectorSpace.h.

Member Data Documentation

◆ dimension

template<int M, int N, int Options, int MaxRows, int MaxCols>
constexpr static auto gtsam::internal::DynamicTraits< M, N, Options, MaxRows, MaxCols >::dimension = Eigen::Dynamic
inlinestaticconstexpr

Definition at line 389 of file VectorSpace.h.

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

gtsam
Author(s):
autogenerated on Wed Mar 19 2025 03:15:50